Problem 3. A crank-rocker four-bar linkage is shown in one of its two toggle positions.
(a) Find θ2 and θ4 corresponding to each toggle position.
(b) What is the total rocking angle of link 4?
(c) What are the transmission angles at the extremes?
r2 = 200 mm, r3 = 500 mm, and r4 = r1 = 400 mm.