Please show all work and calculations.

$4\mathrm{.}1$ Instantaneous centers of zero relative velocity

Part $1$: Physical meaning of ICs

Describe what the following ICs represent and explain

what the location of each indicates about the links'

motion:

P$1,2$

P$2,4$

P$2,3$

P$4,5$

P$2,3$

$($hint$,$ explain why this is not located at the point of

contact between the two links$)$