For the mechanism in the posture shown, the constant angular velocity of input link 2 is 2

For the mechanism in the posture shown, the constant angular velocity of input link 2 is ω2 =

26kˆ rad/s, and the accelerations of the centers of mass of links 3 and 5 are AG3 = −8.45ˆi −

14.64ˆj m/s2 and AG5 = 7.00ˆi − 26.12ˆj m/s2, respectively. The masses and mass moments of inertia of the links are m2 = m3 = m4 =

m5 = 7 kg and IG2 = IG3 = IG4 = IG5 =

0.013 N · m ·s2, respectively. The input torque is T12 = 0.50kˆ N ·m, and gravity is in the negative z direction. The link lengths, position variables, and first- and second-order kinematic coefficients are shown in Table P12.53.

Determine the internal reaction forces between links 3 and 5 and between links 2 and 5.