2. You are asked to design crank-rocker for a rocker amplitude. Link r2 is the crank and r4 is the rocker. The rocker link is required to pass through two positions B1 and B2, with a rocker amplitude of 0=90 (CCW) from B to B2 and the transmission angle of the linkage at position 2 must be 90, the frame link is chosen to be 0.5m, and assume the limiting position of the output link at position 1 (B1) is 70. Complete the design of the 4-bar using the GCP synthesis approach.