Question: Question 4 ( 5 points ) An outdoor pull - up exercise machine is shown in the pictures. A schematic and vector model with labels

Question

4 (5

points

)

An outdoor pull

-

up exercise machine is shown in the pictures. A schematic and vector model with labels for this mechanism is given. Also note key link parameters shown in the table. NOTE that all angles are given in RADIANS. Answers for angles should be entered in RADIANS.

Solve for the coefficient

c

that shows up in solving the loop equations. Use the method covered in class.

Assume that the input, link

2,

angle is given

(

theta

2

) .

Assume that theta

3

is considered as unknown angle

1 .

Write your loop equation in a clock

-

wise direction.

Given data is here and on figure and table.

r 1 = 140

; theta

?_{1} = 1.2566

;

r 2 a = 33

; theta

2 a = 1.1519

;

r 3 = 104

;

r 4 = 62

;

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Question 4 ( 5 points ) An outdoor pull - up

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