$2\mathrm{.}2$ Problem $1\mathrm{.}23$

a$.$ Determine if the linkage shown in Figure $20$ meets the Grashof condition.

b$.$ Also answer the following: Is this mechanism in the open or crossed configuration? How can you tell? How does it affect the motion of the mechanism?

c$.$ Build the mechanism in working model, demonstrate using your model either that it has a link that can rotate $360$ deg, or if not, the limiting angles of the input link.