HOW TO LOCATE THE INSTANTANEOUS CENTERS II FOUR BAR CHAIN

In a pin jointed four bar mechanism, as shown in Figure, AB = 45 mm, BC =98 mm CD = 75 mm, and AD = 142 mm. The angle BAD = 60°. The crank AB rotates uniformly at 100 r.p.m. Locate all the instantaneous centres and find the angular velocity of the link BC.
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