The peg moves in the curved slot defined by the lemniscate, and through the slot in the...

The peg moves in the curved slot defined by the lemniscate, and through the slot in the arm. At θ = 30°, the angular velocity is = 2 rad/s, and the angular acceleration is = 1.5 rad/s2. Determine the magnitudes of the velocity and acceleration of peg P at this instant.