For the mechanism in the posture shown, the first- and second-order kinematic coefficients are 3 =

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

3 = 0.50 rad/ft, R

4 = −1.00 ft/ft, θ

3 = 0.25 rad/ft2, and R

4 = −1.00 ft/ft2. Roller 4 is pinned to link 3 at B and is rolling without slipping on the vertical ground link at C. Determine: (a)

the first- and second-order kinematic coefficients of point P;

(b) the unit tangent vector and the unit normal vector to the path traced by P;

(c) the radius of curvature of this path; and

(d) the x and y coordinates of the center of curvature of this path. If the constant velocity of the input is V2 = −10ˆi ft/s, determine the acceleration of P.