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+// SAMPLE PROBLEM 7/3
+clc;funcprot(0);
+// Given data
+omega_1=6;// rad/s
+r_x=50;// mm
+r_y=100;// mm
+r_z=100;// mm
+
+
+// Calculation
+// v_A=r_x*omega_2;
+v_B=r_y*omega_1;// (i) mm/s
+// v_A=v_B+(omega_n*r_A/B);
+// Expanding the determinant and equating the coefficients of the i, j, k terms give
+function[X]=velocity(y)
+    X(1)=-6-(y(2)-y(3));
+    X(2)=y(4)-((-2*y(1))+y(3));
+    X(3)=0-((2*y(1))-y(2));
+    X(4)=((r_x*y(1))+(r_y*y(2))+(r_z*y(3)));
+endfunction
+y=[1 1 1 1];
+z=fsolve(y,velocity);
+omega_nx=z(1);// rad/s
+omega_ny=z(2);// rad/s
+omega_nz=z(3);// rad/s
+omega_2=z(4);// rad/s
+omega_n=[omega_nx,omega_ny,omega_nz];// rad/s
+omega_n=norm(omega_n);// rad/s
+printf("\nThe angular velocity of crank DA,omega_2=%1.0f rad/s \nThe angular velocity of link AB,omega_n=%1.3f rad/s",omega_2,omega_n);