$$6-53$ Figure P$6-16$ shows a pick$-$and$-$place mechanism which can be analyzed as two fourbar linkages driven by a common crank. The parallelogram stage has $40-$tam cranks and a $108-mm$ coupler. Crank $AB=32mm.BC=260,CD=96,DE=160,$ and $AD=200mm.$ Angle CDE$=75.AD$ is at $205.$ The phase angle between the two crankpins on wheel $W$ is $120.$ The cylinders $P$ being pushed have $60-mm$ diameters. The point of contact between the vertical finger and the left$-$most cylinder in the position shown is $58mm$ at $80$ versus the left end of the nomlli$-.$Solve on a paper showing all steps with numbers $($use vector loop method$)$