The mechanism shown in the figure below consists of four bars and two revolute joints at points O2 and 04. Note that the links are balanced and w is constant. For this mechanism find: a) The D'Alembert force sets corresponding to each of its three links b) The required external equilibrium torque on link 2 y 3 B 4 W2 G4 A 2 AO = 75mm AG3 = 100mm AB = 200mm BO4 = 150mm O4G4 = 75mm 0402 175mm ZBAO = 36.87 02 G2 w = 180 k rad/s W3 = 3.15 N W4 = 3.47 N IG2 = 2.8702 N-mm-s IG3 1.7132 N-mm-s = IG4 1.2460 N-mm-s ZBO4A = 53.13 04 = 0 rad/s 3 = 4950 k rad/s 4=-8900 k rad/s AG2 = 0 m/s = x AG3 (-1896-225 j) m/s AG4 (-684-225 j) m/s