For the mechanism in the posture shown, the first- and second-order kinematic coefficients of links 3 and 4 are θ

3 = −0.125 rad/rad, R

4 =

1.299 m/rad, θ

3 = 0, and R

4 = 0.094 m/rad2. The constant angular velocity of input link 2, which rolls without slipping on the inclined plane, is

ω2 = 20 rad/s cw. The free length of the spring is 3 m, the spring rate is k = 25 N/m, and the damping constant of the viscous damper is C =

15 N · s/m. The masses and mass moments of inertia of links 2 and 4 are m2 = 7 kg, m4 =

4 kg, IG2 = 1.8 kg · m2, and IG4 = 22 kg · m2.

The mass of link 3 is negligible compared to the masses of links 2 and 4, and gravity is in the negative y direction. Determine:

(a) the first- and second-order kinematic coefficients of the mass centers of links 2 and 4;

(b) the equivalent mass moment of inertia; and

(c) the magnitude and direction of the torque acting on link 2.