a) Write the constraints (position variables) and closure loop equation(s) b) Write velocity equations of the mechanism c) For constant angular velocity of link-2, 200 rpm (cw), draw the velocity polygon and find angular velocities of the link-3 and link-6, and linear velocities of all slider links (link-4 and link-5) d) Write the acceleration equations e) Draw the acceleration polygon and perform a complete acceleration analysis, find the angular and linear acceleration values of links in the mechanism. For the combined linkage mechanism shown in figure, AC=78 mm BoCo-44 mm AOB0=90 mm AAo=73 mm A 93,38 56,23 2 4 750 Ao 30 3.