Problem 4 No A L Bo Figure 4.: A Slider Crank Figure 4 shows a slider-crank mechanism. Note that the axis along which the slider moves (the dotted line) is parallel to the Nx axis, separated by the distance Lc. The slider-crank comprises two links of lengths La and L, oriented by angles q and 92, respectively. Determine the following: (1) The position of point Bo with respect to point No, rBo/No. (2) The velocity of point Ao in frame N, NvAo. (3) The velocity of point Bo in frame N, NvBo (4) The acceleration of point Bo in frame N, Na Bo (5) Define three generalized speeds ui = i (i = 1,2,3). Designate u2 and u3 as the dependent generalized speeds and use a differentiated configuration constraint to express the two depen- dent generalized speeds in terms of the independent generalized speed u. (6) Write the Kinematic Differential Equations corresponding to your generalized speed definitions. 5 40