Q3/ In the toggle mechanism, as shown in Fig.below, D is constrained to move on horizontal path. The dimensions of various links are :AB= 200 mm; BC= 300 mm; OC= 150 mm; BD= 450 mm. The crank OC is rotating in a counter clockwise direction at a speed of 180 r.p.m., increasing at the rate of 50 rad/s². Find, for the given configuration (a) velocity and acceleration of D, and (b) angular velocity and angular acceleration of BD. 45 300 mm 90 I'mm B D