22. Determine the reaction forces at the joints and the external torque applied to input link 2 of he four-bar linkage in the posture shown. For the constant angular velocity w = 200 k rad/s, he known kinematics are 3 = -6500k rad/s, = -240k rad/s, AG3 = -3 160 +262 n/s, and AG4=-800-2 110 m/s. The masses are w3 = 2.65 kg, w = 6.72 kg and mass noments of inertia of the links are, IG2= 239 kg-mm, 163 =606 kg-mm, and IG4= 5310 kg-mm. Use both graphical and analytical approaches. 3 14 B GA 67.2 31.1 02 45 Figure 2 x