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Q.1. PQRS is a four bar chain with link PS fixed. The lengths of the links are PQ = 62.5
mm ; QR = 175 mm ; RS = 112.5 mm ; and PS = 200 mm. The crank PQ rotates at 10
rad/s clockwise. Draw the velocity and acceleration diagram when angle QPS = 60° and
Q and R lie on the same side of PS. Find the angular velocity and angular acceleration
of links QR and RS.
II
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