Robert's linkage is named after Richard Robert (1789-1864) and can be used to draw a close approximation

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Robert's linkage is named after Richard Robert (1789-1864) and can be used to draw a close approximation to a straight line by locating a pen at Point F. The distance AB is the same as BF, DF and DE. Knowing that the angular velocity of bar AB is 5 rad/s clockwise in the position shown, determine 

(a) The angular velocity of bar DE, 

(b) The velocity of Point F.

Robert's linkage is named after Richard Robert (1789-1864) and can
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Vector Mechanics for Engineers Statics and Dynamics

ISBN: 978-0073398242

11th edition

Authors: Ferdinand Beer, E. Russell Johnston Jr., David Mazurek, Phillip Cornwell, Brian Self

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