2. For the Linkage shown below:\ (a) how many links (L) are there? Number the links starting with 1 (dont forget the ground link)\ (b) Label all joints alphabetically starting with A. How many full joints (J1) are there? List them\ and describe their type.\ (c) How many half joints (J2) are there? List them and describe their type.\ (d) Calculate the mobility using the Kutzbach revision of Gruebler equation.\ (e) Use linkage transformation to make the linkage have 2 DOF.\ (f) Use linkage transformation to make the linkage have 1 DOF.