For the slider-crank linkage in the posture when 2 = 45, the angular velocity and acceleration of

For the slider-crank linkage in the posture when

θ2 = 45◦, the angular velocity and acceleration of the input link 2 are ω2 = 100kˆ rad/s and α2 =

10kˆ rad/s2, respectively. The postures, velocities, and accelerations of links 3 and 4 are provided in the table. Gravity is in the negative y direction, and the weights and mass moments of inertia of the links are: w3 = 3.40 lb, w4 = 2.86 lb, IG2 = 0.352 in · lb ·s2, and IG3 = 0.108 in · lb ·s2.

The stiffness and unstretched length of the spring are KS = 20 lb/in and r0 = 3 in, respectively.

The damping coefficient of the viscous damper is C = 7 lb · s/in. An external force, FB, acts horizontally at pin B on link 4, and the motor torque is T2 = 60kˆ lb.in. Determine:

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

(b) the equivalent mass moment of inertia; and

(c) the external force, FB.