Write a MATLAB program for the analysis of the following four$-$bar linkage. The program should be flexible enough to readily

accept any dimensions. The program must allow for choice of form of assembly. The program should perform position, velocity, and acceleration analysis of point P through the entire range of ${}_2.$ Inputs: $R_1,R_2,R_3,R_4,R_P,{}_P,{}_2($ you may assume ${}_2=0),$ Open or crossed, increment of ${}_2.$ Oututs: ${}_3,{}_4,{}_3,{}_4,{}_3,{}_4,$Absolute position, velocity, and acceleration of coupler point P$.$ All

outputs should be tabulated for the entire range of ${}_2.$ Show a sample run of the program in the open configuration using

the following data: $R_1=0\mathrm{.}7m,R_2=0\mathrm{.}3m,R_3=0\mathrm{.}5m,R_4=0\mathrm{.}4m,{}_P=30,{}_2=2\frac{\text{r}\text{a}\text{d}}{s}$