The four-bar mechanism lies in a vertical plane and is controlled by crank OA which rotates counterclockwise at a steady rate of 60 rev /min. Determine the torque M which must be applied to the crank at O when the crank angle θ = 45°. The uniform coupler AB has a mass of 7 kg, and the masses of crank OA and the output arm BC may be neglected.

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B 240 mm A 200 M mm 70 mm OA = 80 mm -190 mm