Calculating Force Components in a Rotating Link System

[kubedgamer]

I am conducting some research into finding the force which a rotating link will exert.

The link is actuated by a motor which provides 30Nm of torque. I need to find force in x,y,z directions

F=[Fx,Fy,Fz];

Is the answer [Fx,Fy,Fz]=[tau/Px,tau/Py,tau/Pz]

 

[BiGyElLoWhAt]

I'm a bit confused by the diagram. Is the orange thing solid? Or is it like a chain or rope that's getting wrapped up by a gear at A?