Show your work at each step. Answers without details will not be accepted. 1. Starting with the algebraic position equation R = Au, where R is the position of the vector in the fixed frame [X Y]T, A is the rotation matrix and u is the coordinates of a point on the vector in the local frame, [x y]T, derive the general algebraic acceleration equation. 2. From part 1 what is the algebraic equations for the tangential and normal accelerations for Link 3 and show on the above figure. 3. For the 4-bar slider shown, determine the following: Show your work. b. The magnitude and angle of the link 3 velocity vector VAB. d. The magnitudes and angles of the normal and tangential acceleration vectors of Link 3. c. The magnitudes and angles of the normal and tangential acceleration vectors of Link 2.