Using the same force, FC, as in Problem 12.20, compute the crank torque and the reaction forces at the joints in the posture when θ2 =

210◦. For the constant angular velocity ω2 =

10 rad/s ccw, the known kinematics are θ3 =

14.7◦, θ4 = 164.7◦, ω3 = 4.73 rad/s ccw, ω4 =

5.27 rad/s cw, α3 = α4 = 10.39 rad/s cw, and AG3 = 26 ft/s2∠20.85◦.