A mechanism is made up of links oa ab and bd at the instant

Question

Problem:

Given: A mechanism is made up of links OA, AB and BD. At the instant shown, link OA is vertical and links AB and BD are horizontally aligned. At this instant, link BD is rotating CW at wbd with this angular speed changing at ?bd.

Find: For this position:

Determine the angular velocity of links OA and AB.

Determine the angular acceleration of links OA and AB.

Use the following parameters in your analysis: r = 2ft, L = 3ft, d = 1ft, wbd = 6 rad/s and ?bd = 4 rad/s².