Please show all steps and calculations.

$4\mathrm{.}2$ Velocity and Acceleration equations

Part $1$: Velocity and Acceleration components

Write out the velocity and acceleration vector equations in terms of the link constants, the inputs: omega,

alpha, and the unit and normal vectors.

Describe what each term represents based on the physical motion of links $2($the slotted bar$)$ and $3$

$($the slider$)$

Part $2$: Velocity and Acceleration Matrix Notation

Write out the matrix form for the velocity and acceleration equations representing the motion of point

B $($for example eq $5\mathrm{.}53$ and $6\mathrm{.}24)$

Explain what each term represents and show how they relate to the original velocity and acceleration

vector equations from part $1.$