Kinematics of mechanisms

At the instant shown for the 3-bar linkage, the angle Q of the link OA is 40 degrees and the angular velocity of the link OA is 6 rad/sec. Determine the corresponding angular velocity and instantaneous centre of zero velocity of link AB. The lengths of the linkages in metres are: AO = 0.15 m,

AB = 0.34 m and BC = 0.28 m, OC = 0.14 m.

diagram: