Question $3$

For the given forces $F_3=200N.,F_4=500N.,F_6=300N.$and the input joint variable ${}_{12}=45.,$

a$)$ Draw the free body diagrams of all the links, showing all unknown forces.

b$)$ Write the equilibrium equations for each link $($Neglect gravitational, frictional and inertial effects.$)$

c$)$ Determine the torque applied to link $2,T_2.$

For the given input, other joint variables can be calculated as:

${}_{13}=2\mathrm{.}882$rad,${}_{15}=2\mathrm{.}062$rad

Link dimensions:

$|{)}_{v}ec(O_{2}C)$