The vertical shaft and attached clevis rotate about the z-axis at the constant rate Ω =...

The vertical shaft and attached clevis rotate about the z-axis at the constant rate Ω = 4 rad/s. Simultaneously, the shaft B revolves about its axis OA at the constant rate ω₀ = 3 rad/s, and the angle γ is decreasing at the constant rate of π/4 rad/s. Determine the angular velocity ω and the magnitude of the angular acceleration α of shaft B when γ = 30°. The x-y-z axes are attached to the clevis and rotate with it.