[4]: The slider-crank mechanism operates in a horizontal plane and is driven by a force F on the slider. Using the joint coordinates q = [0, , s]T and Lagrange's equations with multipliers, determine the entries in the matrices appearing in the differential-algebraic equations of motion: M + T = F = 0 The crank AB and connecting rod BC are uniform slender links of lengths and 12, respectively, and masses m and m2. The slider has a mass of m3. Use UD mass centre D for the kinetic energy calculation. = UCWBC XD/C to get the velocity of the Bonus: What is the physical significance of the Lagrange multipliers? B Y A X m2 S m 3 C