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A mechanism is shown in the following figure. Link ABC has an arc slot with a radius of R =100mm . The center of the arc O1 is on the line BC. The crank OA has a length of 100 mm. It rotates about point O with a constant angular velocity of ω =4 rad/s. Find: I) Equation of motion of the link ABC and 2) The velocity and acceleration of link ABC when phi= 30 degree.

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