The length of link 4 is 0.20 m, symmetric about O4, and the ground bearing is midway between E and G2. Link 2 is in translation with velocity VG2 = 0.114 8ˆj m/s and acceleration AG2 =

−0.35ˆj m/s2, and the acceleration of the mass center of link 3 is AG3 = +1.053ˆi+0.432ˆj m/s2.

The kinematic coefficients of the linkage are θ

3 =

−11.5 m−1

, θ

3 = −380 m−2, R

43 = +2 m/m, and R

43 = +40 m/m2 (where R43 is the vector from G3 to G4). A moment, M12, acts on input link 2, and a torque, T4, acts on link 4. The masses and second moments of mass of the links are m2 =

m4 = 0.5 kg, m3 = 1 kg, IG2 = IG4 = 2 kg · m2, and IG3 = 5 kg · m2. Gravity is in the negative z direction. Determine the internal reaction forces, the moment, M12, and the torque, T4.

Figure P12.28 RG2O4 = 0.15 m and REG2 = 0.20 m.