PROBLEM 1 Find of, VA, and VB for the position shown for @2 = 15 rad/sec clockwise (CW). Link lengths: Crank angle: Link 2 (02 to A) a = 116mm 02 := 37 deg Global XY system Link 3 (A to B) b = 108 mm Input crank angular velocity w = 15 rad sec Link 4 (B to 04) c = 110 mm Link 1 (02 to 04) d = 174 mm Coordinate rotation angle a := 25 deg Global XY system to local xy system Y L = 174 L2 = 116 L3 = 108 X L4 = 110 02 04 a) Use the velocity difference graphical method. b) Use the analytical method. c) Find and plot 04, VA, and VB in the local coordinate system for the maximum range of motion that this linkage allows. NOTE: 1) Follow the solution methodology outlined in class. 2) Use Software such as EXCEL to plot the graphs. 3) Show all intermediate steps for the graphical and analytical methods. 4) Show the axis labels, chart title and units. 5) Show the legend for your plots.