A slender homogeneous rod AB of mass m and length L is made to rotate at a constant rate ω...

A slender homogeneous rod AB of mass m and length L is made to rotate at a constant rate ω2, about the horizontal z axis, while frame CD is made to rotate at the constant rate ω1, about the y axis. Express as a function of  the angle θ(a) the couple M1 required to maintain the rotation of the frame, (b) the couple M2 required to maintain the rotation of the rod. (c) the dynamic reactions at the supports C and D.