a) Draw the free body diagram of each link and show all forces acting on the links b) Using analytical solution method, determine the reaction forces at the joints and the torque applied to input link 2 of the four-bar linkage in the posture when 0-60. For the constant angular velocity o2 12k rad/s ccw, the known kinematics are 03 0.7, 04 20.4, %3D 3 r3 Oc G4 03 AC r2 02, G2 RAO, =0.3 m, Ro,0, =0.9 m, RBA= 1.5 m. RBOA=0.8 m, eC = 33, RCA=0.85 m. Op = 53, Rpo, =0.4 m, a =16, RGA=0.65 m. B 17, and RG,0=0.45 m. %3D a 3= 85.6 rad/s- cw, a4 172 rad/s- cw, AG,= 96.4 m/s-259, and AGA = 97.8 m/s-270. The masses and mass moments of inertia of the 5.2 kg, m3 links are m2 65.8 kg. m4 21.8 kg. IG=2.3 kg m-, IG =4.2 kg m-, and IGA=0.51 kg m-. 6. of