[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] and Lagrange's equations with multipliers, determine the entries in the matrices appearing in the differential-algebraic equations of motion: + = 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 VD = C + WBC ID/C to get the velocity of the mass centre D for the kinetic energy calculation. Bonus: What is the physical significance of the Lagrange multipliers? A m B m2 LL F S C m3