Question 6 In the mechanism shown below, link 2 is rotating CW at a rate of 4 rad/s. In the position shown. BC is horizontal. Using appropriate velocity and acceleration diagrams or the graph paper provided. determine the following: (a) velocity of point C on link 4 (Vc), angular velocities of links 3 (wa) and 4 (wa) [9] (b) acceleration of point. C on link 4 (ac), angular accelerations of links 3 (3) and 4 (4) (Hint: graph paper solution recommended here) [13]. 002 2 OC B 3 160 mm 82 44220 mm D 4 0 (AB 100 mm: BC 160 mm; CD=200 mm; 0 = 53.1°). 20 40 Formulae. a²+d²-b²-e²bc' =C08 2ad :0≤ ST ad Viaa, (cose, +isin ₂)= aa (-sin 6, +icos) Viba (cos +isin 6) ba (-sin @ + i cos₂) V=ica, (cose +isin 6)=ca, (-sin 6, +icose₁) A A =aα, (-sine, +icos ₁)- aa² (cose, +isine₂) basin 6, +icos e,)-ba (cos +isine,) A = cos(-sinh, +icose) ca (cose+isine,) End A