For the four-bar linkage in the posture shown, link 2 is 30◦ counterclockwise from the ground link, and the angular velocity and angular acceleration of the coupler link are ω3 = 5 rad/s ccw and α3 =

20 rad/s2 cw, respectively. For the instantaneous motion of the coupler link, show:

(a) the velocity pole, I, the pole tangent, T, and the pole normal, N;

(b) the inflection circle and the Bresse circle; and

(c) the instantaneous center of acceleration. Then determine:

(d) the radius of curvature of the path of coupler point C;

(e) the velocity of C;

(f) the angular velocity of link 2; (g) the velocity of pole I; (h) the acceleration of C; and (i) the acceleration of the velocity pole.