Question: How to solve 3 - Crank - rod system Knowing the input speed ( solid 1 / ground ) find the speed of solid 2

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3-Crank-rod system
Knowing the input speed (solid 1/ ground) find the speed of solid 2 for the position shown in the figure below using a) the equiprojectivity and, b) the fact that the motion of solid 3 with respect to the ground is tangent to a rotation.
How to solve 3 - Crank - rod system Knowing the

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