**a1: 1068 **

**a2: -4**

**a3: -4**

**a4: 96**

**a5: 0.44**

**a6: 5 mm**

**a7: 115 mm**

**a8: 49 mm**

**a9: 45 mm**

**a10: -39**

**a11: 69**

**a12: 0.33**

A slider crank mechanism is exposed to **a1 **N force and an unknown T torque. The angular velocity **a3 **[rad/s] and angular acceleration **a4 **[rad/s^2] of the driver link (2) are given. Chose the length of the coupler such that the driven link can meet the Grashof condition.

When graphical solution is required use ruler and compass. All steps must be visible. To calculate the numerical results of your analytical solution, you can use Matlab, but you must include the code in your exam and you must submit the code to D2L as well. Please note that all preceding steps must be written and only the numerical value can be solved by Matlab. Purely Matlab based equations will not be accepted.

Submission guidelines and exam protocol are listed clearly in the syllabus.

**Problem 1 **

Calculate the value of the T torque, assuming no friction between the slider and the ground. Use the free body diagram method. For the motion property calculations (velocity, angular acceleration, etc) use the analytical AND the polygon methods to double check your work.

**Problem 2 **

Confirm your torque calculation with the power formula method. Compare your results.

**Problem 3 **

Assuming a