The parallel-link mechanism ABCD is used to transport a component I between manufacturing...

The parallel-link mechanism ABCD is used to transport a component I between manufacturing processes at stations E, F, and G by picking it up at a station when θ = 0 and depositing it at the next station when θ = 180º. Knowing that member BC remains horizontal throughout its motion and that links AB and CD rotate at a constant rate in a vertical plane in such a way that υB = 0.7 m/s, determine (a) the minimum value of the coefficient of static friction between the component and BC if the component is not to slide on BC while being transferred, (b) the values of θ for which sliding is impending.