**Discussion**

The animation above shows the motion of the mechanism over a range of input angles of link OA. For a given position, envision the location of the instant centers (ICs) for links AB and CD. Do the directions and magnitudes for the velocities of points B, C and D agree with the location of these ICs?

Shown below if a freeze-frame of the mechanism motion at the position for which you are asked to do analysis. From this figure, where are the two ICs for links CD and BC? In particular, how does the position of the IC for AB relate to the relative sizes of the speeds of points A, C and B? What is the angular velocity of link AB at this position?

Any questions?? Please ask/answer questions regarding this homework problem through the "Leave a Comment" link above.

As no numbers were given for this problem, is it correct that all of the speeds should be given in terms of L and w(OA)?

Yeah that should be correct. I believe that either the original problem included values for w(OA) and L, or they just forgot to include that the answer should be given in those terms

Iām confused I started to work through this problem and the velocities for point a and b are parallel. How do you find the IC? Or is there not one?

: Please remember from yesterday's class about the location of the IC when the velocities are parallel - two parallel lines in a plane intersect at ā. And, also, what does the IC at ā imply about the angular velocity of the link?ChanceOh I see what you're hinting at. Thank you!

Do we leave our ans in terms of Woa, I'm not sure how to clear that variable.