At the instant shown, the arms of the robotic manipulator have constant counterclockwise a...

At the instant shown, the arms of the robotic manipulator have constant counterclockwise angular velocities ωAB = -0.5 rad/s, ωBC = 2 rad/s, and ωCD = 4 rad/s. The mass of arm CD is 10 kg, and its center of mass is at its midpoint. At this instant, what force and couple are exerted on arm CD at C?