write a matlab code to find a theta, velocity and acceleration of each link.

L$1$ fixed link, non horizontal $-$ L$1$x $=620$ mm$,$ L$1$y $=190$ mm

L$2-240$ mm

L$3-350$ mm

L$4-128$ mm

$\backslash$theta $2=54\mathrm{.}12\backslash$deg $,$

$\backslash$omega $2=-25$ rad$/$sec$,$

$\backslash$alpha $2=-15$ rad$/$sec$2$

$.$