Figure P$11-4$b shows a fourbar linkage and its dimensions in meters. The steel crank and rocker have uniform cross sections of $50$ mm wide by $25$ mm thick. The aluminum coupler is $25$ mm thick. In the instantaneous position shown, the crank O$2$A has @ $=15$ rad$/$sec and $=10$ rad$/$sec$2.$ The horizontal force applied at point P is F $=500$ N$.$ Find all pin forces and the torque needed to drive the crank at this instant.