4.13 joint. The guide bar for collar C is horizontal, as is the fixed shaft about which bar AB rotates. The rotation rate is wAB = 200 rad/s, which is constant. Determine the angular velocity and angular acceleration of bar BC, and the velocity and accelera- tion of collar C in the position shown. WAB Problem 4.12 Problem 4.13 300 mm 30° 400 mm 200 mm B 400 mm 200 rad/s 600 mm 800 mm,