The mechanism illustrated in Figure 1 is driven by link 2 at 10 rad/s, ccw. Body 5 and body 6 has a rolling contact at point F. A coordinate system is shown in Figure 2, and various vectors has been developed in the Figure 3. Develop appropriate closure equation(s) and unknown variables for analytical position analysis of this mechanism, and select closure equation(s) and unknown variables (magnitude and direction)

3" G 6 F PE 12 H 2. R 3 4" B A D 2 1" 2" Figure 1 C 4 2"