2. (20 points) Figure 2 shows a four-bar linkage. Body 1 is the fixed link or…

2. (20 points) Figure 2 shows a four-bar linkage. Body 1 is the fixed link or the ground, body 2 is the crankshaft OA, body 3 is the coupler AB, and body 4 is the rocker BC. Using the complex-algebra approach, obtain an expression for the angular velocities of the coupler and the rocker in terms of the angular orientation and angular velocity of the crankshaft. Assume that the angular velocity of the crankshaft is constant and is equal to 30 rad/s, and the lengths of the crankshaft, coupler, and the rocker are 0.2, 0.4, and 0.5 m, respectively, and the distance OC is 0.4 m. y3 D C Figure 2 Four-bar mechanism