The wheel D rotates without slipping over a flat surface. The XY frame shown is inertial,...

The wheel D rotates without slipping over a flat surface. The XY frame shown is inertial, whereas the xy frame is attached to D at O and rotates with it at a constant angular velocity ωD = 14 rad/s. Collar C slides along the bar AB with a constant velocity υC = 4 ft/s relative to the xy frame. Letting ℓ = 0.25 ft and R = 1 ft, determine the inertial velcity and acceleration of C when θ = 25° and the xy frame is parallel to the XY frame as shown. Express your result in both the xy and XY frames.

Figure P6.123