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The two links OA and OB are connected by a pin joint at O. If the link OA turns with angular velocity ω₁ rad/s in the clockwise direction and the link OB turns with angular velocity ω₂ rad/s in the clockwise direction, then the rubbing velocity at the pin joint O is (where r = Radius of the pin at O)

A. ω₁.ω₂.r

B. (ω₁ - ω₂)r

C. (ω₁ + ω₂)r

D. (ω₁ - ω₂)2r

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