Texts: For the four-bar linkage mechanism shown, determine the angular position, velocity, and acceleration of links 3 and 4. Refer to class notes or Section 4.3.3, pages 158-161 of your textbook (edition 2), for the relevant equations.
Given:
θ₀ = 84 rad/sec CW const.
Link 2 is oriented at an angle of θ₀ = 220° at the instant. Link lengths are r₁ = 5.3 cm, r₂ = 2.7 cm, r₃ = 5.6 cm, and r₄ = 4.9 cm.
Determine the angular positions, angular velocities, and angular accelerations of links 3 and 4 for the positions that correspond to θ₀ = 220°.
θ₃ = 0°
θ₄ = 0°
ω₃ (rad/s) = 4 rad/s
ω₄ (rad/s) = a (rad/s)
α₃ (rad/s²) = a (rad/s)
α₄ (rad/s²) = 4a (rad/s)