If the ring gear D rotates counterclockwise with an angular velocity of omega D = 5 rad / s while link AB rotates clockwise with an angular velocity of omega AB = 10 rad / s, determine the angular velocity of gear C. If end A of the cord is pulled down with a velocity of vA = 4 m / s, determine the angular velocity of the spool and the velocity of point C located on the outer rim of the spool. ( ans: omega = 16 rad / s, vc = 8.94 m / s, theta = phi = 26.6 degree )