At a given moment in time, the $2-$inch crank is at the angular position shown in the

schematic diagram below. For the linkage shown in the diagram below:

a$)(5$ points$)$ Draw the kinematic diagram of the linkage.

b$)(5$ points$)$ Label all links with numbers and all joints with letters.

c$)(5$ points$)$ Draw and label the $x-$y coordinate system according to the convention

discussed in class lecture.

d$)(5$ points$)$ Draw and label the position vectors of the links according to the convention

discussed in class. Draw and label the position angles of the rotating links, and draw

and label the rectangular coordinate position of the sliding link, according to the

conventions discussed in class.

e$)(5$ points$)$ Determine the position angle of the $8-$inch coupler link and the rectangular

position of the piston link by using the loop closure method discussed in class. This

method must use the position vectors, the loop closure equations, and the $x$ and $y$

component equations to solve for the link positions.