Determine the reaction forces at the joints and the crank torque of the slider-crank linkage in the posture shown if the external force acting through pin B of the piston is FB = −800ˆi lb. For the constant angular velocity ω2 = 160kˆ rad/s, the known kinematics are: α3 = −3 090kˆ rad/s2, AG2 =

2 640 ft/s2∠150◦, AG3 = 6 130 ft/s2∠158.3◦, and AG4 = 6 280 ft/s2∠180◦ The weights and mass moments of inertia of the links are w2 =

0.95 lb, w3 = 3.50 lb, w4 = 2.50 lb, IG2 =

0.003 69 in · lb ·s2, and IG3 = 0.110 in · lb ·s2.

Figure P12.6 RAO2 = 3 in, RBA = 12 in, RG2O2 = 1.25 in, and RG3A = 3.5 in.