For the linkage in the posture shown, the first- and second-order kinematic coefficients are 3 =

For the linkage in the posture shown, the first- and second-order kinematic coefficients are

θ

3 = −3.0 rad/rad, R

4 = 86.6 mm/rad, θ

3 =

−13.856 rad/rad2, and R

4 = 150 mm/rad 2 (where R4 is the vector from ground pivot O2 to pin B).

Determine the radius of curvature of the path of point C, and the x and y coordinates of the center of curvature of this path. If the input angular velocity of link 2 is a constant ω2 = 22 rad/s ccw, determine the acceleration of point C.