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 = 2.165 rad/rad, θ

4 = −7.143 rad/rad, θ

3 =

−9.369 rad/rad2, and θ

4 = 26.784 rad/rad2.

Determine:

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

(b) the radius of curvature of the path of this point; and

(c) 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 = 50 rad/s ccw, determine the acceleration of point C.