How to get velocity from a point in an assembly

Let’s say I have this log falling down, with the bottom going up because it’s spinning:

How do I get the velocity at each point?

In my case it’s represented with a offset like used in cframe:ToObjectSpace() and i want to use AssemblyLinearVelocity and AssemblyAngularVelocity to calculate it (unless of course theres a built in function for it i dont know about)

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