Question $4$: The input link $AB$ rotates at $100$ rpm in anti$-$clockwise direction with uniform velocity. AB $=17\mathrm{.}5cm,BC=18\mathrm{.}0cm,CD=32\mathrm{.}5cm,BE=52cm.$ Angle at $A=35$ degrees. Link AB is the input link and piston $\text{'}$D$\text{'}$ and $\text{'}$E$\text{'}$ are the output.

$($a$)$ Draw position diagram

$($b$)$ Draw the velocity diagram and find the velocities of $\text{'}E\text{'}.$

$($c$)$ If the force at $AB$ is $100$ N $,$ determine the output force at $\text{'}E\text{'}$ if the efficiency of the system in $90\%.($marks $=3+3+3)$