Problem $1$:

For the linkage shown in the figure, using the graphyical velocity analysis method find the angular velocities of links $3,4$ and $5,$ and the linear velocity of of point D $.$ The angular velocity of link $2$ is $10ra\frac{d}{secccw}.$ Draw the accelaration diagram and calculate the angular accelerations of links $3,4$ and $5$ and the linear accelartaion of the piston at point D $.$ All dimensions are given in cms$.$

Use velocity scale: $1cm$:$20c\frac{m}{s}$

Use accelaration scale: $1cm$:$200c\frac{m}{s^2}$