The link lengths and offset $($in$)$ and the values of $2,$ $2,$ and $2$ for some noninverted, offset fourbar crankslider linkage in addition to the general linkage configuration and terminology are shown in figure below. Find the position, velocity and acceleration of the pin joints A and B $,$ and the position, velocity, and acceleration of slip at the sliding joint using an analytical method. Derive the necessary equations starting with the vector loop equation before using them in the analytical solution. Show your hand calculations.