P5-4

The above model of the human thigh joint is a 4-bar linkage. Using the parameters:

Joint	l	theta
OA	148mm	30
AB	386mm	22
BC	73mm	130

(Note that these parameters uniquely locate the fixed point C. Suggested approach: break all three links into x-hat and y-hat components, then add up the x-hats and add up the y-hats. The result is the location of point C.)

If link OA is driven 0.deltadeltadeltadeltarad/s CCW, determine the linear velocity of point B and the angular velocity of link BC.