Draw free-body diagrams of the links in the sixbar linkage shown in the figure

and write the dynamic equations to solve for all forces plus the driving torque.

Assemble the symbolic equations in matrix form for solution.

branch 1

branch 2

A

AC

a

02

a

0₂ = 95.80°

X

0₂=-118.42°

b

offset c

12

b

d = 100 mm

03 = 187.27°

03 = 150.11°

B

slider axis

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