P6-4

In the 4-bar linkage with dimensions shown above (in mm) the crank is about 45 degrees from horizontal fixed frame link and has a CCW angular velocity of 0.deltadelta rad/s and CCW angular acceleration of 1.deltadelta rad/s^2. Determine the angular velocity and angular acceleration of rocker. Note that the crank angle and link lengths are sufficient information to uniquely determine the location of all links. To greatly simplify manual computation, I have indicated the i- and j- distances of each link in its respective color. Use these distances directly without determining angles.