In a pin jointed four bar mechanism ABCD, the lengths of various links are as follows:
A B = 25 mm ; BC = 87.5 mm ; CD = 50 mm and AD = 80 mm. The link AD is fixed and the angle BAD = 135°. If the velocity of B is 1.8 m/s in the clockwise direction, find 1. velocity and acceleration of the mid point of BC, and 2. angular velocity and angular acceleration of link CB and C
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