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kFor the following mechanism: a) determine the vector representation of this mechanism and write the loop-closure equation. b) Derive explicit mathematical expressions for the position of each link in terms of the input (θ) c) Obtain expressions for the angular velocity or linear velocity of each link. d) Derive expressions for the angular or linear acceleration of each link as a function of the input. The angular velocity flink 2 (02) is constant. 1. 4 ーーーアーーーTr 6, Line of action (offset) 02

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