2. in the toggle mechanism shown in fig 2 the slider d is constrained to move on a horizontal path. the crank oa is rotating in the counter-clockwise direction at a speed of 180 r.p.m. increasing at the rate of 50 rad/s2. the dimensions of the various links are as follows: oa = 180 mm ; cb = 240 mm ; ab = 360 mm ; and bd = 540 mm. for the given configuration find 1. velocity of slider d and angular velocity of bd and 2. acceleration of slider d and angular acceleration of bd.
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