3. VELOCITY ANALYSIS for a ROLLING FIVE-BAR MECHANISM. A five-bar mechanism consists of two wheels pinned to the ground, with their centers separated by 75 mm. Rigid links (4 &5)

are connected to each wheel with revolute joints, as depicted below. These links are themselves connected by another revolute joint, labeled P. (XX points) (a) Use instant centers to calculate wg. (b) Find the magnitude and direction of the absolute velocity of point P.