Problem $2(100$ Points$)$

For the mechanism shown in the figure below the crank $($link $2)$ rotates at a constant angular velocity of ${}_2=2ra\frac{d}{s}$

counter$-$clockwise. The mechanism is the scaled.

The link lengths are: $O_{2}A=2\mathrm{.}0in,AB=1\mathrm{.}75$ in $BC=1$ in$,BD=1\mathrm{.}375$ in$,CD=1\mathrm{.}625$ in$,O_{4}C=1\mathrm{.}25$

a$)$ Find the velocity of the SLIDER $($Point D$)$ using the velocity polygons. Include magnitude and direction.S

b$)$ Find ALL angular velocities $($magnitude and direction$).$