At the instant shown, the rigid body OA rolls counter clockwise without slipping on the fixed horizontal surface, and point O has a velocity 2 m/s to the left and an acceleration of 1 m/s2 to the right. Point O is at the center of the semi-circle region of the rigid body on which it is rolling. Rod AB is attached at point A to rigid body OA. This rod is connected to a cart that rolls on the horizontal surface. Determine: (a) Angular velocity of OA [2 points] (b) Angular acceleration of OA [2 points] (c) Velocity of point A [3 points] (d) Acceleration of point A [4 points] (e) Label the location of the instantaneous center of rod AB on this page. Label it as point C. [3 points] (f) The angular velocity of AB [3 points] (g) The velocity of the cart at B [3 points] Give all answers in vector notation (except (e))