For the fourbar linkage shown, P is located at the midpoint of the coupler. 1. Find the orientation of the crank and rocker (theta2 and theta4) at the two toggle positions. Note that these are also the minimum and maximum angles of rotation of the crank. 2. Find the orientation of the crank and rocker for the configurations when the coupler is horizontal (there are two such configurations!). (HINT: assume symmetry). 3. For each of the two positions in part 2, if crank angular velocity, omega2=1 rad/s, find the speed in cm/s of the midpoint P. Write your answer for the larger of the two speeds up to 2 decimal places in the response box. 20 cm 02 P 8 cm 16 cm 20 cm 04