$2$

$3$ points

For the planar $4-$bar linkage shown in the figure, please calculate angle ${}_4.$ Writhe the angle in degrees and in the range $-180,180.$

Enter the solution corresponding to the correct assembly mode $(-0\mathrm{.}12{}_4)$ in the box below.

Type your answer... For the planar $4-$bar linkage shown in the figure, please calculate the coordinates of the coupler point $p(x_p,y_p).$ Let $r_p$ be the distance of point P to

the origin O$2.$

Enter the value of the expression $((-0\mathrm{.}46)r_p)$ in the box below.

Type your answer...HW$2\_$P$2$: Kinematics analysis of planar $4$bar linkage

As showin in the figure below, the four link lengths of a Hoeken straight$-$line $4-$bar linkage are $r_1=|O_2{O}_4|,r_2=|O_{2}A|,r_3=|AB|,r_4=|O4B|,r_5=|AP|.$

The segments $AB$ and $BP$ are colinear and rigidly attached together, i$.$e$.$ they belong to the link $AP.$ The angles of links are denoted by ${}_i$

measured from the $+x$ axis, ccw being positive. Let $(x_p,y_p)$ be the coordinates of the coupler point P $.$ The origin of the coordinate system is at

the boint $O_{?}.$

The link lengths are $r_1=2^{\text{'}\text{'}},r_2=1^{\text{'}\text{'}},r_3={2\mathrm{.}5}^{\text{'}\text{'}},r_4={2\mathrm{.}5}^{\text{'}\text{'}},r_5=5^{\text{'}\text{'}}.$ Suppose the driver angle is given ${}_2=60.$

Please answer the following questions. All angles in this problem are in degrees and in the range $-180,180.$

Submission instruction:

Enter the numerical in the box directly below the questions. This part will be automatically graded. No partial credits.

Some questions may require a submission of the written part in PDF format. It is your responsibility to make sure that the handwriting is

legible. The grading rubric is given for the written part.