The crank A02 of the following mechanism is rotating at 20 rad/sec in the counter - clockwise direction. Find the velocities using Instantaneous Center method. All construction lines must be visible and must not be erased. AO2 AB BO4 AD BC 0204 30 120 40 40 40 80 A 130° 04 02 900 B Question Points Answer 1 Draw the position diagram 5 2 Locate the required instantaneous centers 10 3 What is the angular velocity of link AB? 5 4 What is the velocity of C? 5 5 What is the velocity of D? 5

Rj.gandhi Crank 2 of the pushlink mechanism shown in the figure is driven at a constant angular velocity ω2 = 60 rad/s (CW). Find the velocity and acceleration of point D and the angular velocity and acceleration of links 3 and 4. Using the Velocity and Acceleration graphical analysis polygons.

60⁰, According to linkage shown in the figure, Link 3 must be perpendicular to link 2. If the angular velocity of link 2 is 100 rad/sec CW and Using loop closure method, calculate the acceleration of point C and the angular acceleration of link 3. B 10" 3 = 3

A robotic arm is made of two links. The input link AB describes a full mode of rotation causing link BC to slide along collar C. The angular velocity of link AB is measured to be as 10 rad's in clock wise direction, whereas the angular acceleration is determined as 20 rad's' describing the same direction of the angular velocity. Determine the following: a) The angular velocity of link BC b) The angular acceleration of link BC c) The relative velocity of link BC with respect to the collar. d) The relative acceleration of link BC with respect to the collar. e) The Coriolis acceleration. s t B 1.8 m 30 2 m