7. Consider the planar PRRP linkage (elliptical trammel) illustrated in the figure (Not to scale). The linkage is horizontal with the gravity vector pointing into the page. The fixed coupler length is dAB = 10 m, the location of the centre of mass of the coupler is at the midpoint so that did = dag = 5 m, doo = 6 m. dao = 8 m. The mass of the coupler is m = 24 kg while Ic = 93 kg m? The frame is Link 1, the slider containing Point A is Link 2, the coupler is Link 3, and the slider containing Point B is Link 4. Assume that the masses of Links 2 and 4 as well as the friction in the linkage are negligible. Answer the following questions using an analytical method. Show all of your work. Report your answers to four decimal places. y (a) (50%) Force FA is applied to Link 1 to give Point A the con- stant velocity of va = 33 m/s V in the direction shown. Deter- mine the angular acceleration of the coupler, a3, and the lin- ear accelerations ag and ac of Points B and C. F X (b) (25%) Determine the inertia force offset, distance h, to lo- cate the point of concurrency of the inertia force -mac and constraint force Fid: (c) (25%) Determine the force FA that must be applied to Link 2 to maintain the constant veloc- ity of Point A of va = 33 m/s2 7. Consider the planar PRRP linkage (elliptical trammel) illustrated in the figure (Not to scale). The linkage is horizontal with the gravity vector pointing into the page. The fixed coupler length is dAB = 10 m, the location of the centre of mass of the coupler is at the midpoint so that did = dag = 5 m, doo = 6 m. dao = 8 m. The mass of the coupler is m = 24 kg while Ic = 93 kg m? The frame is Link 1, the slider containing Point A is Link 2, the coupler is Link 3, and the slider containing Point B is Link 4. Assume that the masses of Links 2 and 4 as well as the friction in the linkage are negligible. Answer the following questions using an analytical method. Show all of your work. Report your answers to four decimal places. y (a) (50%) Force FA is applied to Link 1 to give Point A the con- stant velocity of va = 33 m/s V in the direction shown. Deter- mine the angular acceleration of the coupler, a3, and the lin- ear accelerations ag and ac of Points B and C. F X (b) (25%) Determine the inertia force offset, distance h, to lo- cate the point of concurrency of the inertia force -mac and constraint force Fid: (c) (25%) Determine the force FA that must be applied to Link 2 to maintain the constant veloc- ity of Point A of va = 33 m/s2