Robert's linkage is named after Richard Robert (1789-1864) and can be used to draw a close approximation to a straight line by locating a pen at Point F. The distance AB is the same as BF, DF and DE. Knowing that at the instant shown bar AB has a constant angular velocity of 4 rad/s clockwise, determine (a) the angular acceleration of bar DE, (b) the acceleration of Point F.

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6 in 12 in 12 in. 3 in. 3 in.