For the spheric RRRR linkage in the posture shown, use vector algebra to make complete velocity and

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For the spheric RRRR linkage in the posture shown, use vector algebra to make complete velocity and acceleration analyses at the posture indicated.

Figure P10.5 RO2O = 7kˆ in, RO4O = 2ˆi in, RAO2 =

−3ˆi in, RBO4 = 9ˆj in, RBA = 5ˆi+ 9ˆj− 7kˆ in, and

ω2 = −60kˆ rad/s.

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