5) [ 20 pts] A system of rigid links OA, AB, and BC have pivots at O, A, B and C. Points O and C are stationary. Dimensions and orientation

angles are given in the figure below. Link OA has a counterclockwise angular velocity ( aw. ) of 6 rad/s. Using Methods of Relative Velocity (including instantaneous center, if you wish), please determine: b) speed of point B. a) angular velocity of link AB (magnitude and direction).

Fig: 1

Fig: 2

Fig: 3

Fig: 4