The peg is constrained to move in the slots of the fixed bar CD and rotating bar AB. When theta = 30degrees , the angular velocity and angular acceleration of arm AB are thetadot= 2rad/sec and thetadoubledot= 3rad/sec^2 , respectively. a)Determine the magnitude of the velocity of the peg P at this instant. b)Determine the magnitude of the acceleration of the peg P at this instant.