Two kinematic links have absolute angular velocities of 1 (clockwise) and 2 (anti-clockwise). The angular

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Two kinematic links have absolute angular velocities of ω1 (clockwise) and ω2 (anti-clockwise).

The angular velocity of link 1 relative to link 2 , is

(a) ω1 + ω2

(b) ω1 – ω2

(c) ω2 – ω1

(d) ω1 ω2.

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