The oscillation of rod oa about o is defined by the relation θ= (3/pi)*(sin*pi*t), where theta and t are expressed in radians and seconds, respectively. collar B slides along the rod so that its distance from O is r = 6(1-e^-2t) where r and t are expressed in inches and seconds. When t =1s determine (a) the velocity of the collar, (b) the acceleration of the collar (c) the acceleration of the collar relative to the rod