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+//CHAPTER 1 ILLUSRTATION 8 PAGE NO 22
+//TITLE:Basic kinematics
+//Figure 1.26,1.27
+clc
+clear
+pi=3.141
+Noa=60//        speed of crank in rpm
+OA=30//     length of link OA in cm
+AB=100//       length of link AB in cm
+CD=80//         length of link CD in cm
+//AC=CB
+//================
+wOA=2*pi*Noa/60//     angular velocity of crank in rad/s
+Vao=wOA*OA/100//      linear velocity of point A with respect to O
+s=50//          scale for velocity diagram 1 cm= 50 cm/s
+ob=3.4//        by measurement in cm from figure 1.27
+od=.9//         by measurement in cm from figure 1.27
+Vcd=160//       by measurement in cm/s from figure 1.27
+wCD=Vcd/CD//    angular velocity of link in rad/s
+printf('Angular velocity of link CD= %d rad/s',wCD)