A disk of 0.15-m radius rotates at the constant rate { \omega }_{ 2 } with respect to plate BC, which itself rotates at the constant rate { \omega }_{ 1 } about the y axis. Knowing that { \omega }_{ 1 }={ \omega }_{ 2 }=3 \ rad/s, determine, for the position shown, the velocity and acceleration (a) of Point D, (b) of Point F.