1. Consider the mechanism shown in the diagram below. The mechanism consists of four links

connected by two revolute joints labeled D and E and two prismatic joints A and B. Link 1 is

fixed, while link 2 is driven by an external force. The lengths of the links are as follows: 11 = 4 cm,

12 = 3 cm, ZDAC = 900, and ZACB = 1500. At the instant shown, ADE = 900

y

12

D

@₂

3

1₁

I

I

E

X

• Absolute Motion Analysis:

a) Determine the linear velocity of point A and angular velocity on link 2 with respect to

the fixed reference frame, given that link 4 has an angular velocity of 2 rad/s.

• Relative Motion Analysis:

a) Calculate the linear velocity and acceleration of point B on link 4, given that link 2 has

an angular velocity of 4 rad/s and an angular acceleration of 6 rad/s^2.

• Instantaneous Center of Zero Velocity:

a) Determine the location in cartesian coordinate of the instantaneous center of zero

velocity for the links mechanism when link 2 is at a position such that the angle between

link 1 and link 2 is 45 degrees