For the mechanism shown in following figure, There is rolling contact at point F. a) Determine the degree-of-freedom of mechanism b) Write the closure loop equation(s) and define the position variables c) Perform a complete position analysis for posture shown in figure d) Write the velocity equations e) For 2-10 rad/s (cew), perform a complete velocity analysis (you must find all linear and angular velocities in the mechanism) with using graphical solution method What is the velocity of the point E and G? f) AB=10 cm AD=20 cm 10 cin / B F 5,2 BC-40 cm Q=15 cm 10 cm 3 -30 cm OE R 40 cm 20 cm G 4 DO HB-15 cm EB=EC-25 cm R=5 cm