e) (5 points) Determine whether the linkage is a Grashof chain, or a non-Grashof chain. f) (5 points) Determine the category of the mechanism (crank-rocker, double crank, triple rocker, etc.). g) (7 points) Re-draw your kinematic diagram, and on the second kinematic diagram, show the x-y coordinate system, and show all link position angles using the convention discussed in class and in the course notes. Set the origin of the x-y coordinate system at the revolute joint that connects the frame link to the driver link (the driver link is the 12" long link). Set the x-axis of this coordinate system positive to the right, and the y-axis of this coordinate system positive upward. h) (7 points) On the second kinematic diagram, draw and label the position vectors of each link using the convention discussed in class and in the course notes (Note: the directions of the position vectors must be according to the convention discussed in class and in the course notes. Also, label position vectors as , 72, etc.). i) (7 points) Write the two loop closure equations for the position vectors, from h) above, using the link position angles in these equations. In these equations, use numeric values for any known parameters; that is, use the numeric values given for the link lengths and for any known angles (note that the position angle of the frame link can be calculated numerically). In these equations, only the unknown parameters are to be shown as variables. (Note: The picture/drawing is not to scale, and the numeric values of the angles given are not depicted accurately on the picture/drawing). 5"] 32" 26" 30" 150 12" 30"