Problem 6 on location of Instantaneous centre for Whitworth quick return motion mechanism

Diagram shows a whitworth quick return motion mechanism. The various dimensions in the mechanism are as follows : OQ= 100 mm, OA= 200 mm, QC=150 mm and CD= 500 mm The crank OA makes an angle of 60° with the vertical and rotates at 120 rpm in the clockwise direction. Locate all the instantaneous centres and find the velocity of ram D. Please support my channel, subscribe and share my videos with friends. My aim is to provide guidance related to concepts of engineering topics