Write the equations of motion for each link.

Consider the inverted slider-crank mechanism of Problem 11-1.
(a) Construct free-body diagrams for each link showing the applied and reaction forces and
torques. Also show the linear and angular accelerations. Write the values of the known
(applied) forces, torques, and accelerations next to each vector.
(b) Write the equations of motion for each link. Include numerical values for all known vectors
(moment arms, vectors, etc.). There is no need to solve the equations.
(c) State how many equations and how many unknowns there are. What are the unknowns?

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