PLEASE SOLVE WITH MATLAB CODES IT IS IMPORTANT I HAVE LESS TIME$$The figure shows a mechanism designed to transfer load from one conveyor line $($k$1)$ to the other $($k$2).$ The O $2$ A arm, which makes a full revolution, causes the BO$4$C pendulum to oscillate, and this movement is transferred to the D limb$,$ which pushes the load through the connecting rod CD$,$ enabling the load to be transferred from k$1$ to k$2$ and then the D limb to come back again. When the BO$4$C arm is considered as a triangle, $$BO$4$C$=15\backslash$deg $.$a$)$ Let the angle made by arm O$2$ A with X be theta$2.$ Write a program that performs position analysis in Matlab environment for its rotation movement at $1$ degree intervals between $0$ and $360$ degrees. Show how the mechanism works $($animated$)$ with the help of this program.b$)$ Calculate the movement of point D in the horizontal direction and draw the graph of its change with the angle theta$2($horizontal axis theta$2$ degrees$)$ and calculate the stroke of point D$.$c$)$ Draw the graph of the change in the angles of the limbs with theta$2$ angle $($all in the same graph, the horizontal axis will be in theta$2$ degrees and the vertical axis will be in degrees$).$d$)$ The going and returning movement directions of point D are shown in the figure. If the arm O$2$A rotates counterclockwise with a constant angular velocity, calculate the t$\_$output$/$t$\_$return ratio.e$)$ Round trip time ratio of point DRecalculate the lengths of the drive pairs O$2$A and AB so that t$\_$out$/$t$\_$return $=1.$ In the new situation, will the location of the O$2$ point change? Where will it be compared to its initial position?Use the lengths O$2$A and AB you obtained in part $($e$)$ when answering the questions below!f$)$ Re$-$animate the mechanism and show whether the round trip time ratio is really $1.$g$)$ Recalculate the requirements in $($a$-$c$)$ above.h$)$ Let the angular speed of the O$2$A arm be $15$ rpm in a constant counterclockwise direction. In this case, the speed of point D andDraw the graphs of the change in acceleration with theta$2$ angle $($horizontal axis theta$2$ degrees$).$i$)$ Calculate the angular speed $($rad$/$s$)$ and acceleration $($rad$/$s$^2)$ of the limbs and draw graphs of their changes with$$theta$2$angle$.$