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15-90. The spheres A and B each weighing 4 lb, are welded to the light rods that are rigidly connected to a shaft as shown. If the shaft is subjected to a couple moment of M = (4t² + 2) lb ft, where t is in seconds, determine the speed of A and B when t = 3 s. The system starts from rest.Neglect the size of the spheres.

Fig: 1

Fig: 2