FIGURE Q1 shows Four-bar linkage mechanism (coloured by green for the crank, pink for link, and blue for rocker). The green crank rotates counterclockwise at a constant 10 rad/s. The weights of green, pink, and blue links are 2.5, 3, and 6 kg respectively. the radius of gyration of green, pink, and blue links, relative to the center of gravity are 20 cm, 35 cm, and 20 cm consequently. At a position given by angel, Crank Angel from + X-Axis = 165, determine the following:

1. The linear and angular acceleration at the center of gravity for all links,

3. The inertial force and torque at all links,

4. The torque required to drive the mechanism to overcome the power losses due to linkages inertial.

(unit in the figure is in mm)

(all diagrams should be to scale)

(39) (39) (39) ) -(30) (39) (39) (39) ) -(30)