Finding the acceleration of various links is important to know the forces that the link has to withstand. The normal acceleration is proportional to the square of the speed. Doubling the speed of any link will mean increasing the centrifugal forces four times.
Acceleration Analysis
http://facultad.bayamon.inter.edu/elay/mecn4110/Acceleration%20Analysis.pdf
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Acceleration Analysis
http://facultad.bayamon.inter.edu/elay/mecn4110/Acceleration%20Analysis.pdf
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