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Find the value of the input torque on the crank-shaft mechanism in following Figure. The centers of gravity of link 2, 3 and 4 are at G, G3 and G4 respectively. The masses and moments of inertia of the links are: m-2 kg, m3 =0.5 kg, m4 = 0.5 kg, 1G2 = 0.001 kg m, G3 = 0.01 kg m and 1G4 = 0.002 kg m. It is known that: 0A = 3 cm, AB = 7 cm, AG3 = 2 cm, 0 = 60, w=-20 rad/s, a = -100 rad/s and that external force P4 has a magnitude of 98 N. consider 03 =338.2 and the following accelerations for links 3 and 4: a3 = -250.26^i- 849:45^j cm/s, a3 = 174:44 rad/s, aG4 = -25.45^i cm/s, a4 = 0. A 2 M 0=G G3 3 B=G O 4 P 4