For the mechanism in the posture shown, the distance ROG3 = 2.5 m and the velocity and acceleration of input link 2 are VG2 = −10ˆi m/s and AG2 = 10ˆi m/s2, respectively. The first- and second-order kinematic coefficients of link 3 are θ

3 = 0.20 m−1 and θ

3 = −0.138 6 m−2, respectively. The masses and second moments of mass of links 2 and 3 are m2 = 3 kg, m3 = 5 kg, IG2 = 1.5 kg · m2, and IG3 = 7.5 kg · m2. Gravity is in the negative y direction, force FC = −10ˆj N acts at point C, and the line of action of the unknown force, P, acting on link 2 is parallel to the x axis. Determine:

(a) the internal reaction forces;

(b) force P; and

(c) indicate the point(s)

of contact of link 2 with the ground link.