1. The input variable of mechanism in the Figure is 012. BD is perpendicular to DC. a) Write vector loop closure equation of mechanism. Write vector loop of closure equation in complex numbers. b) In order to obtain numerical solution of the mechanism, write the closure equation of mechanism. c) Determine the necessary matrix and vectors, then formulate the equation of velocity and acceleration. Im B D 18 $34= DC AB=b AC=b BD=by DP = d3 C 012 Rel