Kinematics Assignment 1 (127) PB (8,12) D(22,26) A(8.0) E(40,0) Solve the circle by using the intersection method using Matlab to find the positions of the joints B, D and the point C. You need to do this for all positions of the linkage system, rotating a full 360degrees, in one degree increments in the counter-clockwise direction. You must use a for-loop for the purpose. Make sure to include exceptions in the case that the two-circles may not intersect. The new positions of B, D and C must be the output of the MATLAB code. Plot the paths traced by each joint in MATLAB as well. Include labels for the axes. Include a condition where the circles might not intersect.