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I am trying to find the angular velocity of a link in a 4 link mechanism problem but I have reached a scenario which is new to me. Please look at the attached image.

I already know the velocity of the slider which is 3m/s. I have indicated in the diagram a line parallel to AB to indicate that all points on AB have the same velocity, hence AB undergoes only translation.

My problem is finding the velocity at point D because when I try to draw the instantaneous Center of velocity of points C and D they two velocities are concurrent. I seem to have a lot of ways to interpret it which is the problem. One way I can look at it is to say that C is the ICV which is absurd since I have already established that C, being on AB which is a rigid rod already has a velocity of 3.

Please enlighten me !

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# Instantaneous Center of Velocity

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