In the toggle mechanism as shown in Fig. (2), D is constrained to move on a horizontal path. The dimensions of various links are AB = 200 mm, BC = 300 mm, OC = 150 mm and BD = 450 mm. The crank OC is rotating in a counter clockwise direction at a speed of 180 rpm. Find, for given configuration (1) velocity and (2) acceleration of ‘D’.