For the mechanism in the posture shown, the firstand second-order kinematic coefficients are 3 = 4.333

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

3 =

−4.333 rad/rad, θ

4 = 0, R

4 = 26 in/rad, θ

3 =

0, θ

4 = 0.813 rad/rad2, and R

4 = 4.875 in/rad2

(where the rotation of link 2 is the input and R4 is the vector from point O4 to point C on link 3). The angle between line AB in link 3 and line O2A is a right angle. Determine:

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

the unit tangent vector and the unit normal vector to the path traced by this point;

(c) the radius of curvature of the path traced by this point; and (d)

the x and y coordinates of the center of curvature of the path traced by this point. If the input angular velocity of link 2 is a constant ω2 = 15kˆ rad/s, determine the acceleration of point B.