Synthesize a linkage to pick an object off the ground at (2, 0) and smoothly translate it, rotate it, and put it down at (0, 2) (see Fig. P3.12). Choose (2, 1) and (1, 2) as additional precision points and rotate the coupler 0, 30, 60, and 90, respectively. Restrict the ground pivots to within the triangle formed by the origin (0, 0) and the initial (2, 0) and final points (0, 2). iy X Figure P3.12