Q1: The crank OP of a mechanism as shown in figure below rotates uniformly at 60 rpm counter-clockwise. Various links have following dimensions: OP=50 mm; RQ=200 mm; RS-200 mm; PR-300 mm a) Make appropriate scale to draw position diagram using graphical method. b) Find the lincar vakitics (mm/sec) and angular velocitics (rad/sec) for all links and draw velocity diagram. e) Find the tangential accelerations (mm/sec) and radial acceleration (mm/sec) and angular accelerations (rad/sec) for all links and draw acceleration diagram. d) Identify total number of links, number of full joints (Revolute and sliding joints), number of lower pairs and number of turning pairs for the mechanism Note: Show all drawing work and scales to get full credit Thuh S R P 30 150 mm Q 350 mm