As shown in the figure below, the collar P slides from A toward B along a semicircular rod AB of radius 200 mm. The rod rotates about the pin at

A, and the speed of P relative to the rod is constant at 120 mm/s. When the system is in the position shown, the angular velocity and angular acceleration of the rod are w AB = 0.8 rad/s counterclockwise and a AB = 0.5 rad/s² clockwise. For this position, determine the velocity and acceleration vectors of P. (15 points)

Fig: 1

Fig: 2