The mechanism shown in Figure P4.44 is driven by link OA that rotates at a constant angular speed ω0 in the clockwise direction. Tasks:
(a) Select coordinates and obtain the kinematicconstraint expressions.
(b) Determine expressions that describe the angular velocities of links BC and DC and state in matrix format.
(c) Determine expressions that describe the angular acceleration of links BC and DC and state in matrix format.
(d) Determine expressions for the velocity and acceleration of points D and A. Express the equations for solutions of your unknowns in matrix form
