Make a complete kinematic and dynamic analysis of the offset slider-crank linkage in the posture when 2

Make a complete kinematic and dynamic analysis of the offset slider-crank linkage in the posture when θ2 = 120◦ and the constant angular velocity

ω2 = 6 rad/s ccw and α2 = 0. The external forces at points B and C are FB = −50ˆi kN and FC =

80 kN∠−60◦, respectively. The masses and mass moments of inertia of the links are m2 = 10 kg, m3 = 140 kg, m4 = 50 kg, IG2 = 2.0 N · m · s2, and IG3 = 8.42 N · m·s2.