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 : the angular velocity of link ACB, wAcB, using the instantaneous centre method ) the velocity of block B, v3 , using the relative motion method and the velocity of end A, vA , using the relative motion method at the instant shown in Figure 1.