The link AB is subjected to a couple moment of M = 40 N · m. If the ring gear C is fixed, determine the angular velocity of the 15-kg inner gear when the link has made two revolutions starting from rest. Neglect the mass of the link and assume the inner gear is a disk. Motion occurs in the vertical plane.

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mummy m mmm A -200 mm M = 40 Nm n B 150 mm v