In Figure P5.114, link AB is a uniform slender link of mass m,, and length L. It is driven by an exter- nal moment M. Link CD has mass m and radius of gyration k about point C. Its mass center is located at position F from C. The slider at point B has a mass of m. Friction is negligible. a b M to Tasks: (a) Select coordinates and state the kinematic- constraint relationships. (b) Draw the required free-body diagrams. (c) Obtain the equations of motion for each body. (d) Develop the system governing equations of motion and place the equations for your unknowns in matrix format.