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+//CHAPTER 1 ILLUSRTATION 7 PAGE NO 21
+//TITLE:Basic kinematics
+//Figure 1.24,1.25
+clc
+clear
+pi=3.141
+Noa=600// speed of the crank in rpm
+OA=2.8// length of link OA in cm
+AB=4.4// length of link AB in cm
+BC=4.9// length of link BC in cm
+BD=4.6// length of link BD in cm
+//=================
+wOA=2*pi*Noa/60// angular velocity of crank in rad/s
+Vao=wOA*OA// The linear velocity of point A with respect to oin m/s
+s=50// scale of velocity diagram in cm
+od=2.95// by measurement in cm from figure
+Vd=od*s/100// linear velocity slider in m/s
+bd=3.2// by measurement in cm from figure
+Vbd=bd*s
+wBD=Vbd/BD// angular velocity of link BD
+printf('linear velocity slider D= %.3f m/s\n angular velocity of link BD= %.1f rad/s',Vd,wBD)
+
+
+