MECH&AE 102 Dynamics of Particles and Rigid Bodies Spring 2023 Problem 1. [25 pts] Consider the system of three links depicted in Fig. 1. At the instant shown, the link AB has a constant angular velocity of AB = -4k rad/s. Furthermore, assume that all quantities are expressed in terms of the given inertial frame, and employ the concepts of relative velocity and relative acceleration to find the numerical values of the following velocities and accelerations for the instant shown. a) [2 pts] Determine the linear velocity vector vB at point B. b) [3 pts] Use the result found in Part a) to determine the linear velocity vector vD at point D. Do so by taking the instantaneous center of zero velocity of the link BDE into account. c) [2 pts] Use the result found in Part b) to determine the angular velocity vector @CD of the link CD. d) [2 pts] Determine the linear acceleration vector ap at point B. e) [4 pts] Use the result found in Part c) to give an expression for the linear acceleration vector ap at point D. f) [8 pts] Use the results found in Parts d) and e) and express ap in terms of ag to determine the angular acceleration vector a BDE of the link BDE. g) [4 pts] Use the results found in Parts d) and f) and express a E in terms of a B to determine the linear acceleration vector a E at point E. 1 m I m B E WAB 2 m C D 2 m Figure 1: System of three links with pin supports and measurements. E