In the mechanism shown in Fig.3.35(a), the link 2 rotates with angular velocity of \(30 \mathrm{rad} / \mathrm{s}\) and an angular acceleration of \(240 \mathrm{rad} / \mathrm{s}^{2}\). Determine

(a) the acceleration of points \(B\) and \(C\),

(b) the angular accelerations of link 3 and 4 and

(c) the relative acceleration \(\alpha_{34^{4}} O_{2} A=100 \mathrm{~mm}, A B=200 \mathrm{~mm}\), \(A C=100 \mathrm{~mm}\) and \(B C=150 \mathrm{~mm}\).

Transcribed Image Text:

2 A 60 B 200 mm 200 mm (a) Configuration diagram 0 ba b" ca f" ba ca 18 a f 2 b 02.04 Vcb 0 Vba Vcd Scale: 1 cm = 1 m/s Va ba cb cb 8 02,04 (b) Velocity diagram Scale: 1 cm 20 m/s (c) Acceleration diagram