The slotted link is pinned at O, and as a result of the constant angular velocity ??= 3 rad / s it drives the peg P

The slotted link is pinned at O, and as a result of the constant angular velocity ??= 3 rad / s it drives the peg P for a short distance along the spiral guide r= ( 0.4 ? ) m, where ? is in radians.

Part A) Determine the radial component of the velocity of P at the instant ?=? / 3rad.

Part B) Determine the transverse component of the velocity and acceleration of P at the instant ?=? / 3rad.

Part C) Determine the radial component of the acceleration of P at the instant ?=? / 3rad.

Part D) Determine the transverse component of the acceleration of P at the instant ?=? / 3rad.