To determine the acceleration at point c, the angular velocity of link bc or dc needs to be determined. this can be done by writing the velocity of point c in using the path abc and the path adc. there will be two unknowns and two equations. write an expression for the horizontal component of vc using path abc.

b. write an expression for the horizontal component of vc using path adc.

c. use the results from parts a and b to determine the angular velocity of link cd. let a counterclockwise rotation be positive.

d. what is the angular acceleration of link cd? let a counterclockwise angular acceleration be positive.

e. now use the known angular velocity and angular acceleration of link cd to determine the acceleration at point c. what is the magnitude of the acceleration?