The flat mechanism consists of rods 1-4 and the slider B connected to each other and to the fixed supports O1 and O2 by hinges. Rod lengths ℓ1 = 0.4m; ℓ2 = 1.2m; ℓ3 = 1.4m; ℓ4 = 0.8m. The position of the mechanism is determined by the angles α; β; γ; φ; θ. Point D in all figures and point K in the middle of the corresponding rod. Determine the values indicated in the table. Find also the acceleration of point A of the rod 1, if at the given moment the angular acceleration ε1 = 10c – 2.

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