For a 4-bar linkage, $r_1 = 6$-cm, $r_2 = 2$-cm, $r_3 = 8$-cm, $r_4 = 10$-cm, $q_2 = 30$ degrees, $w_2$ is a constant angular velocity of 15 rad/s CW. $q_3 = 90.9$ degrees and $q_4 = 116$ degrees. The coupler in a trinary link with dimensions AB = 8 cm, AC = 3 cm and BC = 6 cm.
Find $a_3$, $a_4$, $A_A$ and $A_C$. To find $A_C$, I suggest that you sketch the mechanism.