The velocity is the derivative of the position vector. So, we differentiate the position vector with respect to time $t$ to get the velocity vector $\vec{v}$:
\[\vec{v}=\frac{d\vec{r}}{dt}=\left(2 c t-6 d t^{2}\right) \hat{\imath}+\left(4 c t-3 d t^{2}\right)
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