The slotted link is pinned at O and has an angular rotation of of e(t)-(n*t)/10] radians, where t isin seconds. Due to the angular rotation, the slotted link drives the

peg along the spiral guide in the horizontal plane, where r-(0.5(1.5-cos(20))] meters. Determine the velocity and acceleration vectors of the peg when t-1.667 s.