4. For the mechanism shown below, the lengths are given as O?A=0.5m, O?O?=1m and O?B = 2.5m. The

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4. For the mechanism shown below, the lengths are given as O?A=0.5m, O?O?=1m and O?B = 2.5m. The angle between AO? and O?O? is measured as 20° as shown. The crank O?A is rotating at a constant angular speed 2 rad/s counter-clockwise. Find the velocity and acceleration of the point B. [35pts]