Q1/ The diagram of a linkage is given in Fig. below. Find the velocity and acceleration of the slider D and the angular velocity of DC when the crank O₁A is in the given position and the speed of rotation is 90 rev/min in the direction of the arrow. O₁A= 24mm, O₂B= 60mm, CD= 96mm, AB= 72mm, CB= 48mm. 60mm- C D -E 77777 48mm B 66mm 45%