Question:

**PQRS is a four bar chain with link PS fixed. The lengths of links are PQ = 62.5mm, QR = 175mm, RS = 112.5mm and PS = 200mm, The crank PQ rotates at 10 rad/sec clockwise. Draw velocity and acceleration diagram, when angle QPS = 60° and Q and R lie on the same side of PS. Find the angular velocity and angular acceleration of links QR and RS.**

Answer: