a) Write the constraints (position variables) and closure loop equation(s) b) Write velocity equations c) Write acceleration equations d) For 0,=15, m =10 rad/s (ccw) and a,=8 rad/s (cw), perform a complete kinematic analysis with complex-algebraic solution method AB=250 mm O2A=150 mm 0204=75 mm BO4=250 mm CB=100 mm AC=300 mm Ca 4 02 15 02