For the parallelogram four-bar linkage in the posture shown, the angular velocity and acceleration of input link 2 are ω2 = 2 rad/s ccw and α2 =1 rad/s2 ccw, respectively. The first- and second-order kinematic coefficients of the center of mass of link 3 are x

G3 = 0.141 m/rad, y

G3 =

−0.141 m/rad, x

G3 = 0.141 m/rad2, and y

G3 =

−0.141 m/rad2. The masses and second moments of mass of the links are m2 = m4 = 0.5 kg, IG2 = IG4 = 2 kg · m2, m3 = 1 kg, and IG3 = 5 kg · m2. Gravity is in the negative z direction, the force FC = 100ˆi N acts at point C, and torque T4 = 10kˆ N.m acts on link 4. Determine: (a)
the acceleration of the mass center of link 3; (b)
the internal reaction forces, F23 and F43, and

(c) the torque, T2.
Figure P12.32 RBO2 = RAO4 = 0.2 m, RBA = RO2O4 = 0.3 m, and RCB = 0.1 m.