The cylindrical cam C is held fixed while the rod AB and bearings E and F rotate about the vertical axis of the cam at a constant rate of  = 4 rad/s. If the rod is free to slid

The cylindrical cam C is held fixed while the rod AB and bearings E and F rotate about the vertical axis of the cam at a constant rate of  = 4 rad/s. If the rod is free to slide through the bearings, determine the magnitudes of the velocity and acceleration of the guide D on the rod as a function of . The guide follows the groove in the cam, and the groove is defined by the equations r = 0.25 ft and z = (0.25 cos ) ft.