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+//CHAPTER 1 ILLUSRTATION 11 PAGE NO 26
+//TITLE:Basic kinematics
+//Figure 1.31(a),1.31(b),1.31(c)
+clc
+clear
+pi=3.141
+wAP=10//            angular velocity of crank in rad/s
+P1A=30//            length of link P1A in cm
+P2B=36//            length of link P2B in cm
+AB=36//             length of link AB in cm
+P1P2=60//           length of link P1P2 in cm
+AP1P2=60//          crank inclination in degrees 
+alphaP1A=30//       angulare acceleration of crank P1A in rad/s^2
+//=====================================
+Vap1=wAP*P1A/100//    linear velocity of A with respect to P1 in m/s
+Vbp2=2.2//            velocity of B with respect to P2 in m/s(measured from figure )
+Vba=2.06//            velocity of B with respect to A in m/s(measured from figure )
+wBP2=Vbp2/(P2B*100)//   angular velocity of P2B in rad/s
+wAB=Vba/(AB*100)//      angular velocity of AB in rad/s
+fAB1=alphaP1A*P1A/100//  tangential component of the acceleration of A with respect to P1 in m/s^2
+frAB1=Vap1^2/(P1A/100)//  radial component of the acceleration of A with respect to P1 in m/s^2
+frBA=Vba^2/(AB/100)//     radial component of the acceleration of B with respect to B in m/s^2
+frBP2=Vbp2^2/(P2B/100)//    radial component of the acceleration of B with respect to P2 in m/s^2
+ftBA=13.62//             tangential component of B with respect to A in m/s^2(measured from figure)
+ftBP2=26.62//            tangential component of B with respect to P2 in m/s^2(measured from figure)
+alphaBP2=ftBP2/(P2B/100)//   angular acceleration of P2B in m/s^2
+alphaBA=ftBA/(AB/100)//      angular acceleration of AB in m/s^2
+//==========================
+printf('Angular acceleration of P2B=%.3f rad/s^2\n angular acceleration of AB =%.3f rad/s^2',alphaBP2,alphaBA)