1. As a kinematician, you are expected to have a thorough understanding of the motion parameters of every point on a given mechanism. In your current project, you are working with a planar 4-bar mechanism. During the analysis, you became interested in the path that a point on the ternary coupler of the mechanism follows, which is commonly referred to as a Coupler Curve. To better understand this curve, you have decided to take an analytical approach to determine the position of a specific point on the coupler link for a typical configuration of the mechanism, followed by a Matlab code to determine the position for all possible configurations. For this mechanism, let a, c, and d be the link lengths of the crank, follower, and frame-link, respec- tively. Additionally, consider a coupler link with dimensions b. e. and f (seen in clockwise sense). where b is the connecting dimension between the crank and the follower, and the offset point is the farthest from the base-link. Perform the following tasks. (a) Obtain the position coordinates of the unconstrained end (offset-point) of the coupler link as a function of the crank angle 0, which can be used in the later implementation of the Matlab code. (b) Further, obtain the position coordinates for three crank positions: 30%, 40%, and 50. Use a-50,666, c-90, d-100.e-f-40. All dimensions are in mm. (6+61