Q4) For a four-bar mechanism shown in figure, a) Calculate the number of the degree(s) of freedom, please labelled all links and joints b) Write the constraints (position variables) and closure loop equation(s) c) Write the vector equation(s) c) Find values of all constraints for 02-45. Use complex-algebraic-solution method BC=140 mm AB=140 mm O,A=60 mm 0204=160 mm 02 O2 Good luck