The lengths of the links of a 4-bar linkage with revolute pairs only are (p, q, r)

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The lengths of the links of a 4-bar linkage with revolute pairs only are \(p, q, r\) and \(s\) units. Given that \(p

(a) link of length \(p\)

(b) link of length \(q\)

(c) link of length \(r\)

(d) link of length \(s\).

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