The 25-kg bar BD is attached to the two light links AB and CD and moves in the vertical plane. The lower link is subjected to a clockwise torque M = 200 Nm applied through its shaft at A. If each link has an angular velocity omega = 5 rad/s as it passes the horizontal position, calculate the force which the upper link exerts on the bar at D at this instant. Also find the angular acceleration of the links at this position.