The 50-kg cylinder has an angular velocity of 30 rad/s when it is brought into contact with the horizontal surface at C. If the coefficient of friction is c = 0.2, determine how long

The 50-kg cylinder has an angular velocity of 30 rad/s when it is brought into contact with the horizontal surface at C. If the coefficient of friction is _c = 0.2, determine how long it takes for the cylinder to stop spinning. What force is developed at the pin A during this time? The axis of the cylinder is connected to two symmetrical links. (Only AB is shown.) For the computation, neglect the weight of the links.