For the linkage in the posture shown, a torque T12 = 0.24k Nm is acting on link

For the linkage in the posture shown, a torque T12 = 0.24kˆ N·m is acting on link 2 at crankshaft O2. A force P is applied to point D on link 4 at an angle of 45◦ to hold the linkage in static equilibrium. Gravity is acting into the plane and friction in the linkage can be neglected.

Determine the magnitude and the direction of the force P. Determine the magnitudes, directions, and locations of the internal reaction forces in the linkage. Is link 4 slipping or tipping on the ground link?