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A four bar chain PQRS with PS is fixed link. The length of the PQ=62.5mm, QR=175 mm RS=112.5mm and PS=200mm. the PQ rotates at 11 rad / s clockwise. Draw the velocity and acceleration diagram when angle QPS=60 deg and Q and R lie on the same side of PS. Find the angular velocity and acceleration of link QR and RS.

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