Introduction Velocity of moving body is a vector quantity having magnitude and direction. change in the velocity requires any ofthe following conditions to be fulfilled: ‘+ A change in the magnitude only + Achange in the direction only + Achange in both magnitude and direction ‘The rate of change of velocity with respect to time is known as acceleration and itactsin the direction ofthe change Invelocity. Thus accelerations also a vector quantity. To find linear acceleration of a point onlin, itslinear velocity is required to be found fist. Similarly, to find the angular acceleration of ink, its angular velocity has tobe found. Apart from the graphical method, algebraic methods are also discussed in this chapter. After finding the accelerations itis ‘sy to find inertia forces acting on various parts of a mechanism or machine | ACCELERATION Leta link 04, of length rotate ina circular path in the clockwise direction as shown in Fig, 3.1(a) Ithas an instantaneous angular velocity @and an angular acceleration cin the same direction, ic. the angular velocity Increases in the clockwise direction. fe & Tangential velocity of 4, v, = @r liv short interval of time &, let O4 assume the new position O4’ by rotating through a small angle 8 Angular velocity of 04’, o',= a+ atHeong oy Mastin angential velocity of 4% v= (@ + a 50)r ‘The tangential velocity of 4may be considered to have two components; one perpendicular to O4 and the other parallel to O4. Change of Velocity Perpendicular to OA Velocity of 4 1 to O4 Velocity of 4” 1 to 0. ~ change of velocity ",¢08 60 v/, 608 68-v, (@+01.5tyrc0s.60 or or Acceleration of A 1 to O4 In the limit, as 640, cos 58 | +s acceleration of 4 1 to O4= ar -(2); {a =#2) o a) aa 3.1 “4 6» This represents the rate of change of velocity in the tangential direction of the motion of 4 relative to 0, and thus is known asthe rangential acceleration of A relative to O.Itis denoted by , Change of Velocity Parallel to OA Velocity of A parallel 9 O4 = 0 Velo pele = in 30 Sangestvety a vedado-0 w+aborsnsa Accson fp o4 = @*2rsn8 In the limit, as 51 — 0, sin 58 > 50 Acctlatono pel 04 = or 8 : 4) Here eae) G2) oon @ This represents the rate of change of velocity along OA, the direction being from 4 towards O or towards the contre of rotation, This acceleration is known as the centripetal or the radial acceleration of A relative to O and is denoted by av Figure 3.1(b) shows the centripetal and the tangential components of the acceleration acting on A. Note the following:a dow Accretion Analysis a 1. When a=0, i¢., OA rotates with uniform angular velocity, /{, = 0 and thus represents the total acceleration When @ = 0, i, A has @ linear motion, JS, = 0 and thas the tangential acceleration is the total acceleration. 3. When tis negative o the link 04 decelerate, tangential acceleration will be negative or its direction will be as shown in Fig 3.1(). Total acceleration vectors are denoted by small ters witha subscript I” attached. The meeting point of is components may be denoted by any of the small eters used forthe total acceleration with a subserint of the other For example, components of the total acceleration 0,8, can be writen in either ofthe two way’ 1, 0,0, and 0,4, a5 in Fig 3.1 (6) 2. oyayand agay asin Fig 3.1 (6) Note that the centripetal acceleration is denoted bythe same letters as are inthe configuration diagram but ‘he postions ae changed. 3.2 FOUR-LINK MECHANISM The configuration and the velocity diagrams of a four-link mechanism discussed in Sec. 2.5 have been reproduced in Figs 3.2(a) and (b). Let or= angular acceleration of 4B at this instant, assumed positive, i¢., the speed increases in the clockwise direction andy andy‘or the construction of the acceleration diagram, a vector equation for the same can be formed similar to the one applied to the velocity diagram, Ave af Crel. tod = Ace. of Crel. to B+ Ace. of Brel. to 4 Fea = fe + fw fog = fou * fey dye, = ayb, + Dye Each of these accelerations may have a centripetal and a tangential component. Thus, the equation can be expanded as shown below: Fy ey =A eR tS +8, dy eg +646) ™ ab, +b, by +B; 6, + 64 6) Sct the following vector table: (os Vector Magnitude Direction Sense 1 oak aa >A 2 ae LAB orb, or ab a 3 3 ac 4B fe orbyey wey : BC 4 eke “LAC 08 5 oe yc op 6 ‘ LDC ordiey Ki orcas Construct the acceleration diagram as follows: (a) Select the pole point a, or dy (b) Take the first vector from the above table, ie, take ayb, to a convenient scale in the proper direction and sense, (©) Add the second’ vector t the first and then the third vector to the second, (@) For the addition of the fourth vector, draw a line perpendicular to BC through the head ¢, of the third vector. The magnitude of the fourth vector is unknown and ¢, can lie on either side of ey, (e) Take the fifth vector from (0) For the addition of the sixth vector to the fifth, draw a line perpendicular to DC through the head eof the fifth vector. ‘The intersection of this line with the line drawn in the step (d) locates the point ‘Total acceleration of B = a by |‘Aecseration Anion — WE ‘otal acceleration of C relative to B= by ey Total acceleration of C= dy ey Angular Acceleration of Links rom the foregoing discussion, it ean be observed that the tangential component of acceleration occurs due lo the angular acceleration of @ link Tangential ace. of B el. to A, fla = @AB= ABA ‘where «= angular acceleration of the link 4B “Thus, angular acceleration of a link can be found ifthe tangential acceleration is known. Referring to Fig. 3.2, Tangential ace. of Cre. t08, fy = 696; ie, acceleration of C relative oB is ina direction , toe, orn a counterclockwise iretion about B. As Sgn agCB ee Tangential ace. of B rel. 10C, fi. =€) & ie, acceleration of B relative to C is in a direction ¢, to ¢y oF in counter-clockwise direction about C with iitude, y= fi. / BC. which isthe same as a, Thus, angular acceleration of link about one extremity isthe same in magnitude and direction as the Angular acceleration about the other. Tangential acc. of Crel. to D, fy =eq Je. Crlatve to D moves in a direction from ¢g to ¢ ot C moves in the counter-clockwise direction about »b = fd 08. %t= cp cD | ACCELERATION OF INTERMEDIATE AND OFFSET POINTS Intermediate Point ‘The acceleration of intermediate points on the links can be obtained by dividing the acceleration vectors in “MW anme ratio asthe points divide the links. For point E on the fink BC (Fig. 32). BE _ be BC” be 44, €; gives the total acceleration of the point E. Otfret Points © The wceleration of an offset point on a link, such as Fon BC (Fig, 3.2), can be determined by applying any fal the following methods: | Writing the vector equation,™ sg Mac fy faa =e hay or fot By has fe or Fa HG +E = hag HH HE or aby + byfy + Ff = dye, + B+ hy ‘The equation can be easily solved graphically as shown in Fig, 32(d), F relative to A or D. 2, Writing the vector equation, Fa= ft boo represents the acceleration of mht hy = hath tfis or anf, = ab, + bh, +6, fj, already exists on the acceleration diagram ory BF fh =p XFB = 044 x FB fi, FB, direction towards B, f [ox rp sw FB: diccion dof ip, = cy, because angular acceleration ofall the points on the link BCF about the point Bis the same (Counter-clockwise). fj, can be found in this way. 3. By acceleration image method In the previous chapter, it was mentioned that velocity images are useful in finding the velocities of offset points of links. In the same way, acceleration images are also helpful to find the accelerations of offset points ofthe links. The acceleration image ¢, ‘ofa Link is obtained in the same manner as a velocity image, It can be proved that the triangle byeyf, is similar tothe triangle BCF in Figs 3.2(d) and (a. Let «y= angular velocity of the link BCF ‘= angular acceleration of the link BCF Referring to Figs 3.2(a) and 3.3 fy fy eer byf,f, and jeje, are two right-angled triangles in which the ratio of the wo corresponding sides is the same as proved above. Therefore, the two triangles are similar Daf DapAcceleration Analysis Now, in As bye, and BFC, 3-21 bf BF be BC Therefore, the two triangles are similar. This fo find the acceleration of an offset point on a link, a triangle similar to the one formed in the ‘tigation diagram can be made on the acceleration image ofthe linkin such a way tat the requence of Incr isthe same, ic, byfey is clockwise, so should be BEC. ‘A easier method of making the tangle bf similar to BFC is by marking BC” on BC equal to bye, and Ghee line parallel to CF, meeting BF in J”. BC is the exact sizeof the triangle tobe made on bye he bf, = BF’ and ef, = CF ‘Vhs the point fis obtained. and SLIDER-CRANK MECHANISM ie ‘The configuration and the velocity diagrams of a slider-crank mechanism discussed in Sec. 2.8 have been, topuoxluced in Figs. 3.4(a) and (b). Writing the acceleration equation, Ave, of Brel. to O= Acc. of B rel. to.4 + ‘Ace. of A rel. oO f= fafa Shas ne fan hia Ko mbj—o, a; +a, by +b, by ooo The crank OA rotates at a uniform °S m Velocity, therefore, the acceleration of A winive to O bas only the centripetal fwmponen. Similarly, the slider moves in a Aion direction and thus has no centripetal foment, Selng the vector table So Vector Magnitade Direction Teme 1 fooroa, (oay? 04 +0 OA 2 form, a ae Ey | 4B } 3 fi,orb, by LAB - 4. fu, OF Bibs * to line of motion of B -‘Construct the aeceleration diagram as follows: 1 Take the fest vector f, Add the second vector to the first. 4. For the third vector, draw a line to AB through the head b, of the second vector, ‘This completes the velocity diagram. Acceleration of the slider B Total acceleration of B relative to A = a, by 1 by (or gy by) For the fourth vector, draw a line through g, parallel to the line of motion of the slider, Note that for the given configuration of the mechanism, the direction of the acceleration of the slider is ‘opposite to that ofthe velocity. Therefore, the acceleration is negative or the slider decelerates while moving to the right. Example 3.1. Figure 3.5(a) shows the configuration diagram of a four-link mechanism along with the lengths of the links in-mm. The link AB has 4m instantaneous angular velocity of 10.5 rad’s and a retardation of 26 rads? in the counter- clockwise direction. Find (@ the angular accelerations of the links BC and CD (i) the linear accelerations of the points E, F and G Solution vy= 10.5 * 0,05 = 0.525 mis Complete the velocity diagram (Fig. 3.5(6)] as explained in Example 2.1 Writing the vector equation for acceleration, Ace. of C rel. to. = Brel.tod ce. of Crel, to B+ Ace. of or fay = fia thy or dey 1 by + by cy Each vector has a centripetal and a tangential ‘component, Bhat Hoa Boa + Nog + Bo * Roa oF dy ey + eye, =b, +b, b, +b; 6 + eye) Set the vector table (Table 1) on the next page. Draw the acceleration diagram as follows: (0) Take the pole point a, or dy (Fig. 3.5(c)} (Gi) Starting from ay, take the first vector a, by (Gil) To the first vector, add the second vector and to the second vector, add the third. (iv) The vector 4 is known in direction only, Therefore, through the head ¢, of the third vector, draw a line, 1 to BC. The point ¢, of the fourth vector isto lie on this line. (v). Star with d, and take the fifth vector dy eyAccretion Analysis 7 a ee gas a Dion ewe (aby 1 fora, yas a ore, SF 2 orbibp | @*4B=25x008-13 Lari s 5 thor, OF _ 0307 _ ac a ‘BC 0.066, 176 4 1 or ye . ov | ving | 5 | : fyorde, OF, 039 1c = De” ~ O86 of ial (vi) The sixth vector is known in direction only. Draw a line 1 to DC through head ¢, of the fifth vector, the intersection of which with the line in the step (@) locates the point ¢, (vii) Join ayb,, bye, and dye, Now, ayby represents the toial accelerations of the point B relative to the point 4. Similarly, bye, is the total acceleration of C relative to B and dye is the total acceleration of C relative to D. [lNote) inthe acceleration diagram shown ini. 2.5, the arrowhead hasbeen put ontheln joining points bond ein such away tat represents the vector for acceleration of C relative to 8 This satishes the above equation. As the same equation fsa tes can also be put as fest he foe .e,46b,=a,b, ‘This shows that on the same line joining b, and ¢,, ‘he atrowhead should be marked in the other direction » that the vector represents the acceleration of B lative to C to satsty the latter equation, This implies that in case both the ends of a link are \wsmotion, the arrowhead may be putin either direction w arrowhead is put at all This is because every time WW not necessary to write the acceleration equation ‘The acceleration equation is helpful only at the initial stage for better comprehension } (i) Angular accelerations counter-clockwise fig oreye, _ 443 CD 0.056 19.11 rads? counter-clockwise (ii) Linear accelerations (a) Locate point e, on bye; such that be BE be, BC f= ae, = 515 mis? (6) Draw A bye, similar to A BCF keeping in mind that BCF as well a bye, are read in the same order (clockwise in this case) f= af, 442 mist (©) Linear acceleration ofthe point G can also be found by drawing the acceleration image of the triangle DCG on de; in the acceleration iagram such that the order of the letters remains the same 3.9 m/s*8 Theory of Machines Example 3.2 For the configuration of a slider-crank mechanism ‘shown in Fig. 3.6(@),caleare the () acceleration of the slider at B (i) acceleration of the point E (ii) angular acceleration ofthe link AB OA rotates at 20 rad’s counter-clockwise or | Solution =20 0489.6 mis Complete he velocity diagram a shown in Fig 3.60) Writing the vector equation, (b) Take the frst vector o,a, and add the sevond (©) For the third vector, draw a line 4 to AB through the head b, ofthe second vector. (@) For the fourth vector, draw a line || to the line of motion of the slide through g, The intersection of this line withthe line drawn in the step (d) locates point b, ©) Joina, by @ f= Bib, = 72 mis? ‘As the direction of acceleration fis the same 45 of ¥, this means the slider is accelerating atthe instant (i) Locate point on ba, produced such that be BE ba, BA 136 m/s? 161 Te = 104 rad/s? counter-clockwise Example 3.3 & Figure 3.7(a). shows. confi- guration of an engine ‘mechanism. The dimensions are the following: fro = fa + hay Crank OA = 200 mm; Connecting rod AB = 600 or heat hye ‘mm; distance of centre of mass from crank end, Sg Te, AD = 200 mm. At the instant, the crank has an oF aby =o, a, +a, D,+b, by Set the vector table (Table 2) as given below. ‘The acceleration diagram is drawn as follows: (a) Take the pole point or g; [Fig. 3.6 (c)]. angular velocity of 50 radis clockwise and an angular acceleration of 800 radis?. Caleulate the (9) velocity of D and angular velocity of AB (i) acceleration of D and angular acceleration me ofAB 1 cll SN Vector Magnitude (ais) Direction ‘Sense 1 £5 oro, a, Goa) __0.6y oa 30 04 088 - @by_ _ 625F 2, Bien eby 625) ie a4 ff Om by aB 1.60 17.2 3. fi, orb, by . LB = Fog OF Dy e |] to slider motion :(iti) point on the connecting rod which has zero ‘acceleration at this instant. ) Accrleation Analysis 09 ‘Writing the vector equation, fafa he OF fg fae he Eh or gi By 0,9, +88, +a, B+ by by Set the vector table (Table 3) as given below. ‘The acceleration diagram is drawn as follows: (a) Take the pole point o, or g (Fig. 3.7(0)] (b) Take the first vector 0,2) (©) Add the second vector to the first and then the third vector to the second, (@) For the fourth vector, draw a line 1 to AB through the head b, of the third vector. (©) For the fifth vector, draw a line || to the line of motion of the slider through g). The Intersection of this line with the line drawn [ig 377 in step (4) locates point by () Join a, by Solution: v= 50x 0.2 = 10 m/s = (ii) Locate point d, on bya, produced such that ‘Complete the velocity diagram as shown in Fig. a aa a2) boa, BA (i) Velocity of D= od = 8.8 m’s jrod\= 2D. Angular velocity of AB = abl4B= 5.2/0.6 tL. bby 8 Ls a AB AB 0.6 868 rad/s’ clokwise posi SN Vector Magnitude (ave?) Direction Seme qoay _ coy 1 oF jor 30 ff, OF 0, My OA 02 300, A 2 fi, ora, a 2 AB = 800 «0.2 = 160 Losorjioa = a | : aby _ 62) 3. FE ora, b, ( - ae 24 Fora By wy = GO 451 4 orb, by : Lap 5 fg or 8: By ||to slider motion -FRRPMY Ht Maw inion ‘To find the point on the connecting rod which has zero acceleration at this instant, draw triangle ABE = on the configuration diagram similar to ayb,0, such that the leters are in the same order, ic, clockwise (Fig. 3.8). Then £ is a point on the connecting rod with zero acceleration as it corresponds 10 zero acceleration of point 0. Example 34 In the mechanism shown in Fig. 3.9(a), the crank OA rotates at 210 rpm clockwise. For the given configuration, determine the acceleration of the slider D and angular acceleration of the link CD. 2m x 210 a 60. Complete the velocity diagram as follows: tablet Solution x0.1=2.2 ms Fig. 39) ‘© Forthe four-linkmechanismOABQ, complete the velocity diagram as usual [Fig, 3.9(b)]. ‘+ Locate point ¢ on vector ob extended so that oa bq BQ 180 * Draw a horizontal line through g for the vector Vag and a line LCD for the vector ¥,, the intersection of the two locates the point d, Thus the velocity diagram is completed Set the vector table (Table 4) 1.667 SN. Vector Magaitude (mis) Direction Sense i ff or 0; a, wy @2 loa 30 | Oa ~~ 01 : ff, oF ay by (byes eee Wap 4 Tas 3 fi, oF by By : Lap : fi orgy by ay _ 297 180 BQ O18 ~ 5 fy oF by b, . 430 . fi or teat _ o.a1y jie ac comers 1 fle ory dy Le * fag OF Bi dy & || 19 slider motion‘The acceleration diagram is drawn as follows: (i) From the pole point o, take the first vector oa; (Fig, 3.9(6)] (ii) Add the second vector by placing its tail ata, (Gil) For the third vector ff, draw a line LAB through b,, (iv) Add the fourth vector by placing its tal at q, and to add the fifth vector ff, draw a line 480 through b,. Intersection of the two lines locates point by, (9) Locate point e, on the vector qib, by extending it so that ea _ CO _ 300 bay BQ 180 (vi) Add the vector for centripetal acceleration fof link CD by placing its tail at ©; and for its tangential component, draw perpendicular line to it (vii) For the vector 8, draw a horizontal line through , the intersection of this line with the live drawn in (ii) locates point d, 667. ‘This completes the acceleration diagram. Acceleration of slider D = gyd, = 54.4 m/s Angular acceleration of link CD, fy or ed) _ 133, = 33.25 rad/s? cD 04 oe Lvample 3.5 In the mechanism shown in Fig. 3.10(a), the crank OA rotates at 60 rpm. Determine the () linear acceleration of the slider at B (ii) angular acceleration of the links AC, COD ‘and BD fatto Complete the velocity diagram as shown in Hie 1.1006) Actin Aras if eas 4 [Fig 520] It is a six-link mechanism. First, consider the four-link mechanism Q4CQ and write the vector equation | fay fe fon oF fag fag they or =a, Fa,e,Fy Marne Links 4€ and CQ cach can have centripetal and vial components ety =f ef Hf oF ayegt eye 1 Fy Gy + ty Set the following vector table (Table 5), Complete the acceleration vector diagram }ayeyd a usual [Fig. 3.10(0)] Draw Aeyqyd; similar to ACQD such that both ire read in the same sense, ie., clockwise Write the vector equation for the slider-crank nechanism QDB, or iby = aids + by From this equation qyd, is already drawn in the diagram and gyb, is a linear acceleration component. fg = Nag + fra + fa or iby = aid, + dyby + byby Sette following vector table (Table 6) Complete the acceleration vector diagram 41d by 8 () fe= 81 by =7 mis? toward left As the acceleration fs opposite to Vj the slider is decelerating fight a or fag = fay * faa 23 rad/s? counterclockwise foul SN Vector Magnitude (m/s?) Direction Sense 1 oro, a, OE joa 30 4” 15 2 forge, 2-0-0359 ae 4 AC 060 3 £8, oF eye, _ Lac . 4 £5, oF acy G14) _ 3.96 1c 5 0.145 Ie S s oreys: . 96 : Vector tad (is) Direction «Sense ‘| 7 Rose “Already dwn S aa 2 ford, PY. _ 0495) _ 4g 12 aD DB” 050 2 ieee, : Loe ; 4) > fig OF By S | [to stider motion -counter-clockwise clockwise In the mechanism shown in Fig. 3.11(@), the crank OA rotates at 210 rpm clockwise. For the given configuration, ‘determine the velocities and ‘accelerations of the sliders B, D and F ) Ba @ 2Ax210 42 = 4.4 mis Solution, Complete the velocity diagram as follows (Fig, MILO): ‘© For the slider-crank mechanism 4B, complete the velocity diagram as usual ‘© Locate the point ¢ on the vector a ‘© Draw vertical line through g’ for the vector ar | Yq’ and a line LCD for the vector Va the intersection ofthe two locates the point d ‘+ Extend the vector ed 10 € such that ee/ed = CEICD. ‘© Draw a horizontal ine through ” for the vector vg" and aline -LEF for the vector Vj the intersection of the two locates the point f Thus, the velocity diagram is completed, Velocity of slider B= gh = 4.65 mis ‘Velocity of stider D = g’d = 2.85 mis. Velocity of slider F = g”t = 0.35 ms Set the veetor table (Table 7) as shown in the following page: The acceleration diagram is drawn as follows (i) From the pole point ,, take the frst vector 04a; [Fig 3.116) Gi) Add the second vector by plasing its til at », (ii) For the third vector fly, draw a line LAB through b) and for the fourth vector a horizontal line through g, the intersection of the two fines locates point by (iv) Locate pointe; on the vector a,b, (¥) Add the vector for centripetal acceleration fic of link CD and for its tangential component, draw a perpendicular line to it (vi) For the vector 7, draw a vertical line through 2, the intersection ofthis line to the previous Tine Tocates the point (i) Join jd, and locate point e, on its extension. (Vil) Take the vector 8 and draw line ee parallel to EF and draw a line for the tangential ‘component. (ix) For the vector 10, take @ horizontal line through g;” andthe intersection ofthis with the previous line locates the point f, This completes the acceleration diagram, Acceleration of slider B= gb, = 36s? eid) ~ 74m, ‘Acceleration of slider F = g",f, =16 m/s Acceleration of sliderryote ort aN Vector Magnitude (mis Direetion Sense 1 foro, 9 G4) ogg joa +0 Od” 02 2 ff, ora, ebjas 228) 4B aA AB 3 f{, orb,b, 6 4B 5 4 fxg 0F 3, | 10 slider motion 8. fi oF 6 \cD ac 6. fh or cud 4cD 7 fag oF 814, | {10 slider motion 8. ff or eye, WEF aA 9. fore . LEF : [10 fe or gph 7 | to slider motion 5 Example 3.7 In the toggle mechanism a an Shown in Fig 3a) te ©} oak Od nal 110 tn co cca ct at the rate of 60 rad/s’ For the given configuration, determine (@) velocity of slider D and the angular velocity of link BD () acceleration of slider D and the angular acceleration of link BD Solution x02=44m/s Complete the velocity diagram as_ follows [Fig. 3.120b)) '¢ Take the vector oa representing v,, © Draw lines ab 142 through a and qbLOB through q, the intersection locates the point b. ‘© Draw the line bd LBD through b and a horizontal line through q or g to represent the line of motion of the sfder D. The intersection of the two lines locates the point d. Velocity of slider D = ga = 2.54 mis Angular velocity of BD = ba/BD = 3.161 0.5 = 632 rads, Set the following vector table (Table 8): For the acceleration diagram, adopt the following steps (8) Take the pote point 0 or , (Fig. 3.12(c)]. ii) Starting from o}, take the first veetor 0,24. To the first vector, add the second vector. Thus, the total acceleration 0,8 of 4 relative to 0 is obtained, (iii) Take the third vector and place its tail at q, Accleatin Antes 988 and through its head draw « perpendicular line to have the fourth vector. (iv) Take the fifth vector and place its tail at a,. Through its head draw a perpendicular line to add the sixth vector. (9) The intersection of lines of the fourth and sixth vectors locates the point by (vi) Take the seventh vector and put its tail at b ‘Through its head, draw a perpendicular line to add the eighth vector. (i) For the ninth vector, draw a line through parallel tothe stider motion. (vii) The intersection of lines of the cis ninth vectors locates the point Acceleration of sider D= gy, “16.4 mis* Angular acceleration of BD = b,y/BD = 5.46 10.5 = 109.2 radi? th and SN Vector “Magnitude (m/s?) Direction Sense 1 fhoroa, 24) _ G4) ogg [04 30 OA” 02 2 fhoraga, ax04=60x02=12 Los . G39 3 fyorgb, OE 383 1180 =o | mi “EQ 03 4 fh orbyby - 180 . 7 (oy? _ 054) 5. fh, OF aya, 5.93 ||AB A oe ‘AB 04 6 fh orayay : LAB 4 {orb C4) =20 [BD 3B BD 8 fly or bya : LBD : | 9. fhe or Bid, . | 10 slider motion - }