Determine the reaction forces at the joints and the crank torque of the slider-crank linkage in the posture shown. For the constant angular velocity

ω2 = 210kˆ rad/s, the known kinematics are: α3 =

−7 670kˆ rad/s2, AG3 = −7 820ˆi + 4 876ˆj ft/s2, and AG4 = −7 850ˆi ft/s2. The weights and mass moments of inertia of the links are w3 = 3.40 lb, w4 = 2.86 lb, IG2 = 0.352 in · lb · s2, and IG3 =

0.108 in · lb ·s2.