Convert the following program from machine language into ARM assembly language. The numbers on the left are the instruction addresses in memory, and the numbers on the right give the instruction at that address. Then reverse engineer a high-level program that would compile into this assembly language routine and write it. Explain in words what the program does. RO and R1 are the input, and they initially contain positive numbers, a and b. At the end of the program, RO is the output. 0x00008008 0xE3A02000 0x0000800C 0xE1A03001 0x00008010 0xE1510000 0x00008014 0x8A000002 0x00008018 0xE2822001 0x0000801C 0xE0811003 0x00008020 0xEAFFFFFA 0x00008024 0xE1A00002 2. (20 points) Figure 2 shows a crank-slider linkage. The linkage parameters are OA = 2 cm, AB = 5 cm, AC = 3 cm, ZCAB=30, and an offset=-1 cm. Find the positions of the slider 4 and coupler point C at the configuration 2 = 40 (according to the textbook's convention) for the case where the slider is on the right side of the fixed pivot 02. 1 Figure 2 Kinematics (20 points) Figure 2 shows a crank-slider linkage. The linkage parameters are O2A = 2 cm, AB = 5 cm, AC = 3 cm, CAB = 30, and an offset = -1 cm. Find the positions of the slider 4 and coupler point C at the configuration 82 = 40 (according to the textbook's convention) for the case where the slider is on the right side of the fixed pivot 02