Meriam, Kraige & Bolton — Plane Kinematics of Rigid Bodies: Problem 5_69

5/69 A four-bar linkage is shown in the figure (the ground “link” $OC$ is considered the fourth bar). If the drive link $OA$ has a counterclockwise angular velocity $\omega_0 = 10 \text{ rad/s}$, determine the angular velocities of links $AB$ and $BC$. Given: $OA = 80 \text{ mm}$ $AB = 240 \text{ mm}$ $BC = 200 \text{ mm}$ $\omega_0 = 10 \text{ rad/s}$ (Counterclockwise) Angle of link $OA$ with the horizontal: $60^\circ$ Angle of link $AB$ with the horizontal: $15^\circ$ Link $BC$ is vertical.