In a four bar chain ABCD , link AD is fixed and the crank A B rotates at 10 radians per second clockwise. Lengths of the links are A B = 60 mm ; BC = CD = 70 mm ; DA = 120 mm. When angle DAB = 60° and both B and C lie on the same side of AD, find 1. angular velocities (magnitude and direction) of BC and CD ; and 2. angular acceleration of BC and CD.
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