The mechanism has rolling contact at point A. For the current posture 2 = 60. Link 2

The mechanism has rolling contact at point A. For the current posture θ2 = 60◦. Link 2 has constant angular velocity ω2 = 50 rad/s ccw, and link 3 has angular velocity ω5 = 25 rad/s cw and angular acceleration α5 = 20 rad/s ccw. Determine:

(a) the first- and second-order kinematic coefficients for links 3 and 4; and

(b) the angular velocities and angular accelerations of links 3 and 4.