For the mechanism in the posture shown, link 4 is rolling without slipping on the ground at point C, and the first- and second-order kinematic coefficients are θ

3 = −1.341 rad/rad, R

4 =

−3.097 in/rad, θ

3 = −2.475 rad/rad2, and R

4 =

−7.372 in/rad 2 (where R4 is the vector from the origin to pin B, which connects links 3 and 4).

Determine the radius of curvature of the path of point D, and the x and y coordinates of the center of curvature of this path. If the constant input angular velocity of link 2 is ω2 = −9kˆ rad/s, determine the acceleration of point D.

Figure P4.56 RO2 = 1.00 in, RAO2 = 1.50 in, RBA = 2.00 in, RB = 2.267 in, RCB = 0.50 in, and RDB = 1.50 in.