For the systems shown in figure; a) Determine the degree-of-freedom of the system. b) Draw the free-body-diagram and indicate the forces acting on the bodies c) Derive the equation of motion(s) of the system. d) Determine the natural frequency. Note: The rods have same mass and it is equal to M. Links and ropes are rigid and massless. Assume that friction at the revolute joint is negligible. S 2k 2L -Rigid massless link k