The four-bar mechanism of Prob. 6/108 is repeated here. The coupler AB has a mass of 7 kg, and the masses of crank OA and the output arm BC may be neglected. Determine and plot the torque M which must be applied to the crank at O in order to keep the speed of the crank steady at 60 rev/min over the range 0 ≤ θ ≤ 2π. What is the largest magnitude M which occurs during this motion, and at what angle θ does it occur? Additionally, plot the magnitude of the force on each pin over this range and state the maximum magnitude of each pin force along with the corresponding crank angle θ at which it occurs.

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B. 240 mm A 200 M mm 70 mm CO OA = 80 mm 190 mm