Gear 3, which is pinned to link 4 at point B, is rolling without slipping on semicircular ground link 1. The radius of gear 3 is ρ3, and the radius of the ground link is ρ1. Define a set of vectors that is suitable for a complete kinematic analysis of the mechanism. Label and show the sense and orientation of each vector. Write the vector loop equation(s) for the mechanism. Identify suitable input(s), known quantities, unknown variables, and any constraints. If you identify constraints, then write the constraint equation(s).