What is the angular velocity wcd, Mechanical Engineering

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What is the angular velocity wcd

The link AB of the robot's arm is rotating at 0.2 rad/s in the counterclockwise direction, the link BC is rotating at 0.1 rad/s clockwise direction. if you like the trajectoire of point D moving on the horizontal (i.e. x direction) what is the angular velocity Wcd (t)?

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Mechanical Engineering: What is the angular velocity wcd

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