Class Activity $1$

Given ${}_2,$ find

The angular velocity of link $3$&$4,$

The slip velocity $($identify axis of slip and axis of transmission$)$

Assume dimensions $($mm$)$ as $a=100,c=120,d$

$=200,$ and ${}_2=80,{}_2=-20ra\frac{d}{sec}$

The position solution is:

$b=-169\mathrm{.}28$&$169\mathrm{.}28mm{}_3=7$&$116\mathrm{.}33$

The velocity solution is:

$b^{}=-2\mathrm{.}33\frac{m}{s}$&${}_3=-9\mathrm{.}52ra\frac{d}{sec}$

The velocity solution is:

$V_A=ja{}_2{e}^{j({}_2)}=1\mathrm{.}97-j0\mathrm{.}35\frac{m}{s}$

$V_{A4}=0\mathrm{.}94+j1\mathrm{.}74\frac{m}{s}$

$($point A$4,$ is the image of point A that remains attached to link $4)$