2. Given a Four-bar linkage as shown in Fig.2. Solve the following questions withanalytical and graphical approach. (a). Let R1=250, R2=75, R3=160, R4=150, theta2=70 degree, solve theta3 and theta4. (b). After solving (a), let w2=2, solve w3 and w4. (c). Let a2=0, solve a3 and a4. (d). Let Rc=220, p=15 degree as shown in Fig.3, solve velocity C. (e). Solve acceleration of point C.