Question: Link AC in Figure is driven by an external moment M. Link OB's mass center is located a distance r from O. Bar OB has a radius of gyration kOg and mass of m2. Link AC is a uniform bar of length r and mass m1. Friction is negligible
Tasks: (a) Select coordinates and state the kinematic constraint relationships.
(b) Draw the required free-body diagrams.
(c) Obtain the equations of motion for each body.
(d) Develop the system governing equations of motion and place the equations for your unknowns in matrix format.