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 = −3.464 rad/rad, θ

4 = 1 rad/rad, θ

3 = 5.464 rad/rad2, and θ

4 = 7.732 rad/rad2, respectively. Line AC in link 3 is parallel to the x axis. The circular wheel, link 4, is rolling on the ground link at point E and rolling on link 3 at point B. Determine:

(a) the first- and second-order kinematic coefficients of point C;

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

(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 input angular velocity of link 2 is a constant ω2 = 15kˆ rad/s, determine the acceleration of point C.