this is the position analysis for a certain linkage problem i also need a full velocity and acceleration analysis $.$ Parameters:

r$1=130,$ r$2=43,$ r$3=126,$ r$4=71,$ r$5=102$

theta $1=0$ input

r$1\text{'}=-139$

Vector Loop Closure Equations:

For Part $1\mathrm{.}1$:

Vector Form:

r$1+$ r$4-$ r$2-$ r$3=0$

part $2$

Vector Form:

r$4+$ r$5=$ r$1\text{'}$