Question: P1. ( 100marks). Use Loop closure equations (LCE); find the velocity and accelerations of points A, B, and C for the position shown in

P1. ( 100marks). Use Loop closure equations (LCE); find the velocity and

P1. ( 100marks). Use Loop closure equations (LCE); find the velocity and accelerations of points A, B, and C for the position shown in Figure. Given w, = 20 rad/sec CW, and az = 0 rad/sec?, and all necessary lengths and angles. Link 1 (O204) =1.22 in Link 2 (O24) =1.35 in Link 4 (OAB) = 1.36 in Link 5 (BC) = 2.69 in Link 6 (O6C = 1.80 in Angle OrA makes with X axis 02 = 14 deg Angle O204 makes with Xaxis 01 56.5 deg Angle CO6 makes with X axis 06= 88 deg L2 = 1.35 in L4 = 1.36 L5 = 2.69 4 = 1.80 82 = 14 86 = 88 0204 = 1.22 @ 56.5 0604 = 3.86 @ 33 %3D

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