A7.4. VELOCITY ANALYSIS. For the single-degree-of-freedom mechanism shown below, the angular velocity on link 2 is w, = 50 rad/s ccw. (a) Locate and mark all of the instant centers.

(b) Calculate the direction and magnitude of wz and w, (c) Calculate the direction and magnitude of the velocity of link 5. \mathrm{R}_{\mathrm{BO} 3}=1,000 \mathrm{~mm}