Homework Hint: Problem No. 5/76

The mechanism here is made up of three links: OA, BC and ABD. The angular velocity of ABD is given, and we are asked to find the angular velocity of the other two links.

Suggestion

Write down a rigid body kinematics equation for EACH link:

vA = vO + wAO x rA/O

vB = vC + wBC x rB/C

vB = vA + wABD x rB/A

Substitute the first two expressions into the third equation. This gives you one vector equation (TWO scalar equations) for the two unknowns of wAO and wBC. Solve. 

Be sure to write your final answers as vectors.