$($a$)$ Fourbar linkage$17-23$ At $t=0,$ the non$-$Grashof linkage in Figure P$7-8$a has link $1$ at $-25$ and link $2$ at $37$

in the global $xY$ coordinate system and ${}_2=0.$ Write a computer program or use an

equation solver to find and plot ${}_4,{}_4,V_A,A_A,V_B,$ and $A_B$ in the local coordinate

system for the maximum range of motion that this linkage allows if ${}_2=15ra\frac{d}{sec}$

CW constant.