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**1. Homework Statement**

The 4-kg uniform rod ABD is attached to the crank BC and is fitted with a small wheel that can roll without friction along a vertical slot. Knowing that at the instant shown crank BC rotates with an angular velocity of 6 rad/s clockwise and an angular acceleration of 15 rad/s^2 counterclockwise, determine the reaction at A.

**2. Homework Equations**

Newton's 2nd Law (Shown in FBDs)

Acceleration and velocity kinematic equations

aa = ab + aa/b

va = vb + vc/b

**3. The Attempt at a Solution**

I've drawn FBDs and written out Newton's 2nd Law, but I'm at a loss on how to write the kinematics equations I need. I know that they involve a cross product, but I don't really know how to use them to make an equation that will come out to all i's and j's. Please help!

Thank you.