The angular position of a particle is given by theta(t) = b + ct + dt2, where b, c, and d are constants. The radial displacement of the particle is r (t) = a theta(t) where a is a constant. Determine (a) the angular velocity, (b) the angular acceleration alpha, (c) the linear velocity, (d) the transverse acceleration, and (e) the centripetal acceleration of the particle.