Question $2$

The figure below shows a planar $4-$bar linkage system consisting with $4$ rotational joints. The corners $1$ up to $4$ are numbered and coordinates are given in the figure.

a$)$ Compute the link lenghts

b$)$ Check if this mechanism conforms to Grashof's law

c$)$ Assume the link$-1-2$ is the driver link and that the angle $\backslash (\backslash$alpha $\backslash )$ is controlled. Create equations describing the coordinates of point$-3$ as a function of the angle $\backslash (\backslash$alpha $\backslash ).$

A $4-$bar linkage system