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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)
+
+
+