$1)$ Draw the Free$-$Body Diagrams

$2)$ Write the equations that describe the movements of the links

$3)$ Determine the magnitudes and directions of the forces in the joints

$4)$ Determine the magnitude and direction of Torque T$2$

Determine the reaction forces at the joints and the external torque$($in lb$-$in$)$ applied to input

link $2$ of the four$-$bar linkage in the posture shown. For the constant angular velocity ${}_2=$

$180$widehat$(k)(\frac{\text{r}\text{a}\text{d}}{s}),$ the known kinematics are ${}_2=0.$ The weights and mass moments of inertia

of the links are $W_3=0\mathrm{.}708lb,W_4=0\mathrm{.}780lb,I_{G2}=0\mathrm{.}0258in*lb*s^2,I_{G3}=0\mathrm{.}0154in*lb*$

$s^2,I_{G4}=0\mathrm{.}0112in*lb*s^2$

$r_{AO2}=3in,r_{0402}=7in,r_{BA}=8in,r_{B04}=6in,r_{G3A}=4in,r_{G404}=3in$

P$.$S: Gravity is acting perpendicular to the plane, solve the problem without friction