Question: For the mechanism shown below, the joint variables are assigned by disconnecting revolute joints at A and B. Then the LCEs are 1st Loop:

For the mechanism shown below, the joint variables are assigned by disconnecting revolute joints at A and B.

For the mechanism shown below, the joint variables are assigned by disconnecting revolute joints at A and B. Then the LCEs are 1st Loop: 4A = AB + BA, in complex form: ae02 = -a + S43e014 2nd loop: BB=BQ+QC +CB, in complex form: -(a3 - S43) el014 = ib-C + $65e016 $65 5 /B 6 016 Co (08 $43 014 3 2 Ao AoBo= a, QB, b, CoQ = C, AA = a, AB = a3 = 012 a) Obtain the velocity loop equations with real and imaginary parts. b) The input is 12. Solving the LCEs loop by loop, determine the velocity variables $43, 14, $65 and 816 in terms of #2 and the position variables.

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