Alternative Solution

 L
r1 E
D r2 
R 
B

Note – we define ALL angles to be positive CW

𝑥𝐷 = R and 𝑦𝐷 = 0
𝑥𝐴 = 𝑥𝐷 + 𝑟1 sin  and 𝑦𝐴 = 𝑟1 cos 
𝑥𝐵 = 𝑥𝐴 + 𝐿 cos and 𝑦𝐵 =𝑦𝐴 - Lsin 
𝑥𝐸 = 𝑥𝐵 + 𝑟2 sinR and 𝑦𝐵 =𝑦𝐵 + 𝑟2 cos = 0

Differentiating gives

𝑥𝐷̇ = R𝜃̇
𝑥𝐴̇ = R𝜃̇ + 𝑟1 𝜃̇ cos 𝜃 and 𝑦𝐴̇ = -𝑟1 𝜃̇ sin 𝜃
𝑥𝐵̇ = R𝜃̇ + 𝑟1 𝜃̇ cos 𝜃 − 𝐿𝛼̇ sin 𝛼 and 𝑦𝐵̇ = -𝑟1 𝜃̇ sin 𝜃 − 𝐿𝛼̇ cos 𝛼
𝑥𝐸̇ = R𝜃̇ + 𝑟1 𝜃̇ cos 𝜃 − 𝐿𝛼̇ sin 𝛼 + 𝑟2 𝛽̇ cos 𝛽 = R𝛽̇ and 𝑦𝐸̇ = -𝑟1 𝜃̇ sin 𝜃 − 𝐿𝛼̇ cos 𝛼 − 𝑟2 𝛽̇ sin 𝛽 = 0

Here R = 6in, r1 = 5in, r2 = 4in, 𝑥𝐷̇ = 6in/s , L = 14in and the initial angles are

asin(r1/L) = 0.365rads

𝑥𝐷̇ = 6𝜃̇ = 6
𝑥𝐴̇ = 6𝜃̇ + 5𝜃̇ = 11𝜃̇ and 𝑦𝐴̇ = 0
𝑥𝐵̇ = 11𝜃̇ − 14𝛼̇ sin 𝛼 = 11𝜃̇ − 5𝛼̇ and 𝑦𝐵̇ = −14𝛼̇ cos 𝛼 = −13.08𝛼̇
𝑥𝐸̇ = 11𝜃̇ − 5𝛼̇ = 6𝛽̇ and 𝑦𝐸̇ = −13.08𝛼̇ − 4𝛽̇ = 0

𝜃̇ = 1 rad/s

Then solving the last set of equations gives

5𝛼̇ + 6𝛽̇ = 11 and 13.08𝛼̇ + 4𝛽̇ = 0

𝛼̇ = −0.75rad/s i.e. 0.75 rad/s CCW and 𝛽̇ = 2.46 rad/s (i.e. CW)