The four bar link mechanism in Figure 5 comprises a link RB/4= 0.2 m that is driven at a constant speed @AB 200 rad-s- and is horizontal at the instant shown. Given the parameters LAD = 0.25 m, Re/D = 0.2 m, 0 = 62.72, a. Determine the length of link RC/B and angle y. (20% points). b. Determine the vectors RB/A RC/B, and Re/p (30% points) c. Using, and expanding, the relative vector equation V = V +Va/b, determine the angular speeds @CD and @BC- (50% points) d. Write down the relevant relative acceleration equation from which accelerations acp and a BC could be obtained (do not attempt to solve for these parameters. (20% bonus points) aCD-@CD D Rc/D TITT LAD a BC@BC RC/B AB Y RB/A Figure 5: Four bar link mechanism B Pivot