For the materials handling mechanism described in Problem, determine the torque required f...

For the materials handling mechanism described in Problem, determine the torque required from the motor if the motor is rotating at 120 rpm and accelerating at a rate of 100 rad/s2.

The materials handling mechanism, shown in Figure, slides 4-kg packages along a counter. The machine operates with the crank rotating counterclockwise at a constant rate of 120 rpm. The coefficient of kinetic friction between the package and counter is 0.15. The weight of all the mechanism links is negligible. Determine the instantaneous torque required from the motor to operate this mechanism.

FIGURE