P4) Make a complete kinematic analysis (find the positions and the velocities for all links) of the mechanism in the figure shown below. Provided that \( \theta_{2}=241^{\circ} \) and \( \omega_{2}=-10 \mathrm{rad} / \mathrm{sec} \) clockwise (constant). Piston 8 follows a trajectory along a vertical line that passes through \( \mathrm{O}_{6} \). The dimensions of the mechanism are \( \mathrm{O}_{2} \mathrm{~A}=1.4 \mathrm{~cm}, \mathrm{AB}=3.5 \mathrm{~cm}, \mathrm{O}_{4} \mathrm{~B}=1.4 \mathrm{~cm}, r_{O_{2}}=(0,0) \mathrm{cm}, r_{O_{4}}=(-3.1,-1.6) \mathrm{cm}, \mathrm{BC}=3.7 \) \( \mathrm{cm}, \mathrm{CD}=5 \mathrm{~cm}, \mathrm{O}_{6} \mathrm{D}=1.3 \mathrm{~cm}, r_{O_{6}}=(0,-2.8) \mathrm{cm}, O_{6} E=1.5 \mathrm{~cm}, \psi=67.5^{\circ} \), and \( \mathrm{EF}=2.3 \mathrm{~cm} \).