Homework H$\mathrm{.}2.$G

Given: The mechanism shown is made up of rigid links $OA,AB$ and CD $.$ Link OA has a pin joint

at end $O$ and is known to be rotating in the clockwise sense about $O$ with a rotation rate of ${}_{OA}.$

AB is pinned to OA at end A and is pinned to a slider at B $,$ with B moving along a horizontal guide.

Link $CD$ connects the center C of AB to a second slider at D through pin joints, with this slider

constrained to move along a vertical guide. At the instant shown link OA is oriented vertically, B

is directly below D and D is directly to the right of A $.$

Find: For this problem:

$($a$)$ Locate the instant center $($IC$)$ for link AB$.$ Based on the location of this IC$,$ what is the speed

of pin C and the direction of travel for C $,$ as well as the speed of slider B$?$

$($b$)$ Locate the IC for link CD$.$ Based on this location, determine the speed of slider D$.$

NOTE: Please use only the instant center approach for this problem. Do not use vector analysis

to find your answers. Do all the work please