$[$Matlab$]$ The table below shows kinematic and geometric data for several crank$-$slider linkages of the type and orientation shown in the figure below. Use the matrix method of Section $11\mathrm{.}5$ and write a Matlab script to solve for forces and torques at the position shown. Also compute the shaking force and shaking torque. Consider the coefficient of friction $$ between slider and ground to be zero.