The linkage has the dimensions $($in mm $)$ given below. The ground link is at $-25$ with respect to the global coordinate system. The coordinate rotation angle between the global XY system to local $xy$ system is $25.$ For a crank angle of $35,{}_2=10ra\frac{d}{sec}$ clockwise $(CW)$ and ${}_2=15ra\frac{d}{se{c}^2}($CCW$)$ draw the linkage to scale. Using the acceleration difference graphical method find ${}_4,A_A,$ and $A_B$ in the global coordinate system for the position described in the problem statement.