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In the planetary gear system shown, gears A and B

In the planetary gear system shown, gears A and B are rigidly connected to each other and rotate as a unit about the inclined shaft. Gears C and D rotate with constant angular velocities of 30 rad/s and 20 rad/s, respectively (both counterclockwise when viewed from the right). Choosing the x axis to the right, the y axis upward, and the z axis pointing out of the plane of the figure, determine (a) the common angular velocity of gears A and B, (b) the angular velocity of shaft FH, which is rigidly attached to the inclined shaft.

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