Identify the parameters that determine the position of every link at any time. You may label the link lengths as L$1,$ L$2,$ etc, and the angles as well. h form the vector loop or loops, write them in a complex form, and write the unknowns. Note: Do not expand the vector loop equation or differentiate it$.$ Only identify the unknowns for each loop and make sure you have enough equations to solve them. please solve for the mechanism given you can rewrite the loops if its necessary