Find the velocity, acceleration, and speed of a particle with position function
$\mathbf r(t) = \langle -6 t \sin t, -6 t \cos t, 1 t^2\rangle$
$\mathbf v(t) = \langle$,, $\rangle$
$\mathbf a(t) = \langle$,, $\rangle$
$|\mathbf v(t)| =$