1. (30 points) Use analytical synthesis to design a four-bar linkage for carrying the object in Figure 1 through the three positions and orientations as shown. The chosen values are = -55, 3 = -108, Y2 = -50 and y3 = -78. YA all dimensions in mm 421 1400 88 - 184 P2 27 963 base Figure 1 Obtain all the necessary values and equations to be used for obtaining the dyad W and Z, and the dyad U and S. 2. (25 points) Use analytical synthesis to design a four-bar linkage for carrying the object in Figure 1 from position 1 to position 2 (i.e. ignoring position 3) at the positions and orientations shown. The chosen values are z = 1070 mm, p = 0 for Z and, s = 774 mm, 6 for S at position 1. Two other chosen values are 2 = -55 and y2 = -50. Obtain Wand U. =