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+//rotating crank
+//refer fig. 22.16 (a),(b),(c),(d),(e),(f),(g),(h) and (i)
+//from sine rule
+theta=asind((80*sind(60))/(200))  //degree
+//angular velocity of crank
+omega=(2*%pi*1800)/(60)  //rad/sec
+vB=0.08*omega  //m/sec
+//it is at right angles to BC
+aB=(15.0796^2/0.8)  //m/sec^2
+vA=15.8436  //m/sec
+aB=2842.4292  //making 60 degree with horizontal
+alpha=13120.457  //rad/sec^2
+aAB=0.2*alpha
+aA=512.2027  //m/sec^2
+aX=1118.2109  //m/sec^2
+aY=-1174.862  //m/sec^2  downward
+//Consider dynamic equilibrium of piston A
+HA=(4000)-((50*512.2027)/(9.81))  //kN The answer provided in the textbook is wrong
+//Taking moment about B
+vA=813.95  //N
+vB=2001.57  //N
+HB=2598.51  //N
+printf("\nHA=%.2f kN\nHB=%.2f N\nvA=%.2f N\nvB=%.2f N",HA,HB,vA,vB)
+