For the Scotch-yoke linkage in the posture shown, the angle = 30, and the angular velocity

For the Scotch-yoke linkage in the posture shown, the angle ϕ = 30◦, and the angular velocity and acceleration of input link 2 are

ω2 = 15kˆ rad/s and α2 = 2 kˆ rad/s2, respectively.

The accelerations of the centers of mass of the links are AG2 = −5.4ˆi + 11.3ˆj m/s2, AG3 =

−10.8ˆi + 22.6ˆj m/s2, and AG4 = 22.6ˆj m/s2.

The masses and mass moments of inertia of the links are m2 = 5 kg, m3 = 5 kg, m4 = 15 kg, IG2 = 0.02 N · m · s2, IG3 = 0.12 N · m · s2, and IG4 = 0.08 N · m ·s2. Gravity is in the negative y direction, an external force P = 125ˆj N is acting on link 4, and an unknown torque, T2, is acting on link 2. Determine the internal reaction forces and the torque, T2. Indicate the point(s) of contact between link 4 and the ground link.

Figure P12.31 R2 = 1 m