Use the functions created for tut $1$:

$1.$ Calculate the Jacobian

$2.$ Use the Newton Raphson method to solve for the co$-$ordinate to an accuracy of $10-6$

$.$

$3.$ Calculate the value of the $($q$)$ functions which form the constraint equations.

Modify the plot function to animate the wire frame:

$1.$ Plot the wire frame of the mechanism the create the plot object if it does not exist

a$.$ Use the isobject function to detect is the plot object has been created $$ if not create

it

h$=$plot$($x$,$y$)$;

b$.$ If the plot object exists update the coordinates of the points

set$($h$,$xdata$,$x$,$ydata$,$y$)$

Write an Octave script that will calculate and store the position vector in qq$,$ velocity in vv and

acceleration in aa for the first $5$ seconds in increments of $20$ ms$.$ While the script calculates the

kinematic values that were stored, an animated wireframe must be drawn.