The Dimensions Of The Various Links Are OA = 300mm; AB=1200 mm; BC=450mm; And CD=450mm.

For The Given Configuration Determine:

1. Velocities Of Sliding At B And D

2. Angular Velocity Of CD

3. Linear Acceleration Of D, And

4. Angular Acceleration Of CD

Given: $N_{AO}$ = 20 rpm. or $\omega_{AO}$ =$2\pi\times\frac{20}{60}$ = 2.1 rad/s:

OA = 300 mm=0.3m, AB= 1200 mm,=1.2 m, BC = CD = 450 mm =0.45m

We know that linear velocity of A with respect to O or velocity of A,

$N_{AO}$ = $v_{A}$ = $\omega_{AO}$ × OA =2.1 × …