Problem

In some high-performance mountain bikes, one element of the frame is attached to the rest...

In some high-performance mountain bikes, one element of the frame is attached to the rest via a four-bar linkage system. Referring to Fig. DP6.1, the four-bar linkage system is defined by the points A, B, C, and D. Notice that this system is also connected to the shock absorber pinned at points E and F. Research the available commercial literature (this information is readily available on the Web), and select a bicycle frame containing a four-bar linkage system such as that shown below. For the frame you select, obtain the necessary geometric information (again, this information is often made available on the Web by manufacturers), and assume that the points attached to the front part of the frame, which, in Fig. DP6.1 are points A and D, are fixed. Then calling ℓ the length of the shock absorber, which in Fig. DP6.1 is the distance between E and F, analyze the kinematics of the linkage system and determine and as a function of both the angular velocity and the angular acceleration of the part of the frame to which the wheel is attached, which, in Fig. DP6.1, is the part to the left of points B and C.