Figure P3.32 illustrates an epicyclic gear train driven by the arm, link 2, with an angular velocity

ω2 = 3.33 rad/s cw and an angular acceleration

α2 = 15 rad/s 2 ccw. Define point E as a point on the circumference of planet gear 4 horizontal to the right of point B such that angle ∠DBE = 90◦. For the absolute motion of gear 4, draw the inflection circle and the Bresse circle on a scaled drawing of the epicyclic gear train. Then, determine:

(a) the location of the instantaneous center of acceleration of the planet gear;

(b) the radii of curvature of the paths of points B and E;

(c) the locations of the centers of curvature of the paths of points B and E; and

(d) the accelerations of points B and E and pole I.