1. Starting with the algebraic position equation R = Au, where R is the position of the vector in the fixed frame [X Y]T, A is the rotation matrix and u is the coordinates of a point on the vector in the local frame, [ y]T, derive the general algebraic velocity and acceleration equation and note which forces the acceleration components affect. A R4 04 0 R1 W2 R2 02 For the 3Bar Inverted Crank Slider shown, the following data is given: R2 = , R = d, R4 = b, 02, 04, W2, W4, b,