a) Determine the degree-of-freedom of mechanism b) Write the closure loop equation(s) and define the position variables c) Perform a complete position analysis for posture shown in figure d) Write the velocity equations e) For mz=72 rad/s (ccw), perform a complete velocity analysis (you must find all linear and angular velocities in the mechanism) with using graphical solution method f) What is the velocity of the point E? O6 C B. O2 AB-105 mm AO-15 mm O,0-70 mm O,04-60 mm DC-15 mm BO, 50 mm EO,-80 mm