The figure shows the top, front, and auxiliary views of a spatial slider-crank RSSP linkage. In the construction of many such linkages, a provision is made to vary the angle β; thus, the stroke of slider 4 becomes adjustable from zero when β = 0, to twice the crank length when β = 90◦. With β = 30◦, use vector algebra to make a complete velocity analysis of the linkage at the given posture.