Consider the 3R-1P mechanism as shown in the figure below. (a) Can we apply Grashof criterion to the mechanism? What is the condition for the mechanism to be a Grashof chain? (b) Let L = 20 cm, L3= 25 cm and e 5 cm. Consider at an instant that the angle 02 120. Draw the full configuration of the mechanism using a suitable scale. How many configurations are possible for the given 027 (c) Using an analytical method, find the angle 04 for 02 = 120. In case there are multiple solutions, interpret them. L