Meriam, Kraige & Bolton — Plane Kinematics of Rigid Bodies: Problem 5_82

5/82 The mechanism of Prob. 5/81 is now shown in a different position, with the crank $OA$ 30° below the horizontal as illustrated. Determine the angular velocity $\omega$ of link $AB$ and the velocity of roller $B$. [From Prob. 5/81: $OA = 80\text{ mm}$, $AB = 200\text{ mm}$, and the crank $OA$ rotates with a counterclockwise angular velocity $\omega_{OA} = 9\text{ rad/s}$. The horizontal slot for roller $B$ is located $100\text{ mm}$ above the fixed pivot $O$.]