The oscillation of rod OA about O is defined by the relation (? = 4/p)(sin pt), where ? and t are expressed in radians and seconds, respectively. Collar B slides along the rod so that its distance from O is r = 10 / (t + 6), where r and t are expressed in mm and seconds, respectively. When t = 1 s, determine
(a) The velocity of the collar,
(b) The total acceleration of the collar,
(c) The acceleration of the collar relative to the rod.
