Subjects: Translation and rotation about a fixed axis, general plane motion and center of inertia.The motion of the uniform thin bar of length L=0.8m and mass m=2.5 kg is guided by pins at C and D sliding in the slots shown.Pin D slides freely in the circular slot and pin C slides with a kinetic friction coefficient of 0.2 in the horizontal slot.If it is known that at the instant shown the bar has an angle of 40 degrees with an angular velocity of 4 rad/sec counterclockwise,determine:Reactions of the pins at C and DAngular acceleration a of the mass aG(m/s^2)Angular acceleration of rod CD