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 = θ

4 = 0.5 rad/rad, θ

3 = θ

4 = 0, R

34 = 0, and R

34 =

−50 mm/rad 2 (where R34 is the vector from point B fixed in link 3 to point C fixed in link 4).

Determine:

(a) the radius of curvature of the path of point B and

(b) the center of curvature of the path of this point. If the input angular velocity of link 2 is a constant ω2 = 10 rad/s cw, determine the acceleration of point B.