(Solved): 1. Figure shows a single degree of freedom mechanism which has a motor attached at point M to supp ...

1. Figure shows a single degree of freedom mechanism which has a motor attached at point $$M$$ to supply its motion. Use of a high quality lubricant on the pin at point $$\mathbf{N}$$ results in approximately zero sliding friction between the pin and the slot on the ground link. However NO lubricants are used on the slider, and as a result there is a coefficient of friction of $$?=0.25$$ between the slider and the ground surface. Two external loads act on the mechanism, a force $$F_p$$ and a torque $$T_p$$ both acting at point $$\mathbf{P}$$ on Link 3. Assume that the weights of all the links are small enough compared to other forces acting on the mechanism that they could be neglected. Also assume that you have already obtained the following information: Angular acceleration of Link $$3\left({?}_3\right)$$ Linear acceleration of center of mass of all moving links ( $${\mathbf{a}}_{{\mathrm{CM}}_2}{a}_{\mathrm{CM}})$$ Mass of all moving links $$(m2,m3)$$ Mass moment of inertia about center of mass of Link $$3\left(I_{\text{?? }}\right)$$ (a) Draw a Free Body Diagram of each moving link of the mechanism. (b) Derive equations that are solvable for the input torque and reaction forces at every joint. (c) Write the equations derived from part (b) in matrix form.