PROBLEMA #$3(34$ ptos$)$

Determine todos los centros instant$$neos de rotacion del mecanismo mostrado

DATOS:

$\frac{?}{\text{b}\text{a}\text{r}}(O_2{O}_4)=280mm\frac{,}{b}ar(BC)=125mm\frac{,}{b}ar(AB)=250mm\frac{,}{b}ar(O_{4}C)=100mm\frac{?}{b}$

$ar(O_{2}A)=75mm\frac{,}{b}ar(CD)=120mm\frac{,}{b}ar(O_{4}B)=100mm,$