vA = rꙍ

At vA= 6 rad/s :
vA= (0.015)(6)= 0.09 ms-1
Now,
ꙍArA= vA = ꙍB rB
0.09= (0.116)ꙍB

0.019
ꙍB= = 0.775k
0.116
ꙍB = ꙍBF

Now,
vC= ꙍABk × rC = 0.775k × (0.167sinθj + 0.167cosθi)
vC= -0.129425sinθi + 0.129cosθj

vD= vC + (ꙍCD × rD/C)

-vDi = -0.129sinθi + 0.129cosθj - ꙍCDk × (0.15cosθi – 0.15sinθj)
-vDi = -0.129sinθi + 0.129cosθj - ꙍCD(0.15cosθj) - ꙍCD(0.15sinθi)

Comparing i and j components:

i: -vD= -0.129sinθ - ꙍCD(0.15sinθ)
j: 0= 0.129cosθ - ꙍCD(0.15cosθ)

0.129 cosθ
So, ꙍCD = = 0.86(-k) rad/s
0.15 cosθ

vF = ꙍBFk × 0.33cosθi + 0.3 sinθj

vF = -0.25575sinθi + 0.25575cosθj

vE= vC + (ꙍCE × rE/C)

As ꙍCE = ꙍCD ,
vE = vC+ (ꙍCD × rE/C)

vExi + vEyj = -0.129sinθi + 0.129cosθj - 0.86k × (-0.15cosθi + 0.15sinθj)

vExi + vEyj = -0.129sinθi + 0.129cosθj + 0.129cosθj + 0.129sinθi

Comparing i and j components:

i: vEx = 0
j: vEy = 2(0.129)cosθ = 0.258cosθ