A mechanism consisting of a slider and lever is shown in the Figure. The slider, A, is moving to the right with a velocity of 0.5 m/s slowing down at a rate of 2 mys'. The slider is constrained so that A moves horizontally in line with O. The distance between A and B is 12=300 mm. O and B are a distance L3'=100 mm apart. The total length between D and B is L3=400 mm. O is a revolute joint connecting link 3 to the inertial frame. B is a revolute joint between links 2 and 3. Point D is the free end of link 3. Link 1 is the inertial frame. The angle between link 3 and the horizontal is 80*. Determine the velocity and acceleration of D: Vector methods Graphic Methods using a scale of 15=40 mm/cm for spatial position, wv=0.05 m/s/cm for velocity and a=0.4 m/s'/cm for acceleration Note: the scale will not allow space for drawing vD and aD so these can be calculated from vB and aB Determine the velocity of D using calculations based on the methodof instantaneous centres of rotation B O A O D Figure 1 Slider - Lever Mechanism