Q1. The velocity and acceleration of point A of the mechanism shown in Figure 1 is defined by the motion of the hydraulic cylinder D. If the hydraulic cylinder shortens

at a constant rate of vc = 0.6 (m/s), determine the magnitude and direction of: a) the angular velocity of link ACB, WACB, using the instantaneous centre method b) the velocity of block B, VR , using the relative motion method and c) the velocity of end A, v, using the relative motion method at the instant shown in Figure 1.