2000 N if the last link 5 has a translational motion or, |M5ext | = 3000 Nm if the last link 5 has a rotational motion. Determine the joint forces and the motor moment M, required for the dynamic equilibrium of the considered mechanism when the the driver link 1 makes an angle with the horizontal axis. Write MATLAB programs for different methods of calculating the dynamical forces. Table 7.1 Mechanism 1 No AB AD BC CD n [m] [m] [m] [m] [] [rpm] 1 0.08 0.19 0.21 0.12 60 500 2 0.10 0.24 0.26 0.14 120 600 134 0.18 0.43 0.47 0.27 210 700 4 0.15 0.36 0.40 0.21 330 800 A n 0 B C 2 3 - D