Make a complete kinematic and dynamic analysis of the offset slider-crank linkage in the posture when 2

Make a complete kinematic and dynamic analysis of the offset slider-crank linkage in the posture when θ2 =120◦, and the constant angular velocity is ω2 = 18 rad/s cw. The masses and mass moments of inertia of the links are m2 = 2.5 kg, m3 = 7.4 kg, m4 = 2.5 kg, IG2 = 0.005 N · m ·s2, and IG3 = 0.013 6N · m · s2. The external forces acting at points B and C are FB = −2 000ˆi N and FC = −1 000ˆi N, respectively.

Figure P12.15 a = 0.06 m, RAO2 = 0.1 m, RBA = 0.38 m,

θC = 32◦, RCA = 0.4 m, α = 22◦, and RG3A = 0.26 m.