**Kinematics ofmechanisms**

Atthe instant shown for the 3-bar linkage, the angleqof the link OA is 40 degrees and the angular velocity of the linkOA is 6 rad/sec. Determine the corresponding angular velocity andinstantaneous centre of zero velocity of link AB. The lengths ofthe linkages in metres are: AO = 0.15 m,

AB = 0.34 m and BC = 0.28 m, OC = 0.14 m

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