104 5. TOPIC K5
X
e
X
O
1
O
M
D
Figure 5.30.
5.2 SAMPLE PROBLEM
Dene absolute velocity and acceleration of particle M at t = t
1
. e mechanism is schematically shown in Figure
5.31. Given parameters:
O
1
A = O
2
B = 20 cm; R = 16 cm; φ =
5
πt
3
rad; s
r
= AM = πt
2
cm; t
1
= 2 s.
48
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