Crank Slider mechanism analysis

[salmansl]

Homework Statement

For the mechanism shown, analytically find A) Velocity B) Acceleration. Of All points (B, C, D, E and G) The lengths of all links are given in the photo. It has to be solved using the analytical velocity and acceleration method. I've attempted so far deriving the equations, for the crank slider part, and seems like I'm getting wrong values for the external link 5.

Homework Equations

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The Attempt at a Solution

Sorry about my attempted solution's picture, my camera isn't working well.

 

[nilesh_pat]

I've used the analytical method to derive equations for the crank slider part which is this:$$\begin{aligned}v_e &= r_e \frac{d\theta}{dt} + v_b\\a_e &= r_e \frac{d^2\theta}{dt^2} + 2 v_b \frac{d\theta}{dt} + a_b\end{aligned}$$Then using the given lengths, I have these equations for the external link 5:$$\begin{aligned}v_5 &= \sqrt{(r_e \cos{\theta} + l_4)^2 + (r_e \sin{\theta} + l_5)^2}\frac{d\theta}{dt} + v_e\\a_5 &= \sqrt{(r_e \cos{\theta} + l_4)^2 + (r_e \sin{\theta} + l_5)^2}\frac{d^2\theta}{dt^2} + 2 v_e \frac{d\theta}{dt} + a_e\end{aligned}$$I'm having trouble getting the correct values for the velocity and acceleration of point 5. Any help would be appreciated!