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In this particular mechanism,
we have a body 2 which is rolling.
The point of contact with body 1 is O2, here.
If we know omega 2, the angular velocity [ not rotation ] of body 2,
then we can determine
the velocity of that point A in body 2.
We would note that there is A in body 2 and A in body 3.
That body 3 is that body [slider] which is moving along the slot in body 2.
There is A4 which is at the end of body 4.
In this particular mechanism, A2, A3 and A4 are coincident.
We can determine the velocity of A2.
It has to be perpendicular to line O2A.
That is our vector.
We can transfer it here,
with that as our origin.
The velocity of point A4 must be along this line, perpendicular to O4A.
We can draw it here, from our origin.
There is a sliding velocity.
That sliding velocity is the relative velocity of A3 on 2.
We can draw it at the end of vector A2.
There is an intersection here.
This is the velocity of A3 with respect to A2.
And that is the velocity of A4.