a) Write the constraints (position variables) and closure loop equation(s) b) Write velocity equations of the mechanism c) Draw the velocity polygon and find angular velocities of the link-2, link-4 and link-5, and linear velocities of all slider links (link-3 and link-6) d) Write the acceleration equations e) For a2=5 rad/s (ccw), draw the acceleration polygon and perform a complete acceleration analysis, find the angular and linear acceleration values of the links. O2A=191 mm O4B=102 mm O204=88.9 mm BC=356 mm VA2-6 m/s 0, 210,37 d luck C 12161