7/46 The crank with a radius of 80 mm turns with a con- stant angular velocity wo = 4 rad/s and causes the collar A to oscillate along the fixed shaft. Determine the velocity of the collar A and the angular velocity of the rigid-body link AB as the crank crosses the vertical position shown. (Hint: Link AB can have no angular velocity about an axis (unit vector n) which is normal to both the Y-axis and the axis of the clevis pin. Thus wen = 0 where n has the direction of the triple vector product J x (rAB X J). 40 mm 80 mm 300 mm 120 mm ZI -100 mm X PROBLEM 7/46