The linkage ABD is formed by connecting two 4-kg bars and a collar of negligible mass. The...

The linkage ABD is formed by connecting two 4-kg bars and a collar of negligible mass. The motion of the linkage is controlled by the force P applied to the collar. Knowing that at the instant shown the angular velocity and angular acceleration of bar AB are zero and 10 rad/s2 counterclockwise, respectively, determine the force P.