The fourbar linkage shown has link lengths L1=7", L2=9", L3=3", L4=8". Link 1 is ground, and link 3 is the coupler, as usual. Link 2
pivots on the origin of the XY coordinate system. A coupler point P is located at a distance of 9" from pivot A, at an angle of 25o from the line AB. Consider the position shown, where the angle between links 1 and 2 is 85 degrees. Link 2 rotates at a constant speed of 20 radians per second clockwise.
1. Is the linkage a crank-rocker, a double rocker, a double crank, or a triple rocker? Explain your answer.
2. Modify the Matlab code fbpos1vec.m to determine θ3 and θ4.
3. Differentiate the vector loop equations to get the velocity equations, and solve the angular velocities ω3 and ω4 . Also determine the velocity of point P. Check your answer by using LINKAGES or one of the Matlab codes from Blackboard.
4. Differentiate the vector loop equations again to get the acceleration equations, and solve the angular accelerations α3 and α4, Also determine the acceleration of point P. Check your answer by using LINKAGES or one of the Matlab codes from Blackboard.