2. Analyze the excavator mechanism shown below by completing parts a-f: a. Draw the kinematic diagram of the mechanism (label all links and joints b. How many links are there in the mechanism? c. How many joints are in the mechanism? d. Does this mechanism have a recognizable topology? If so, what is it?What task does this mechanism satisfy and why? e. How many degrees of freedom does this mechanism have? Hint: Hydraulic cylinders are common in linkages. They are represented by two links with a dashpot sliding element between them (see below). In the most basic form of the kinematic diagram, this dash pot representation is further reduced to two binary links pinned together. Hydraulic Cylinder 11 0 9 8 12 10 Kinematic Diagram Representation of a Hydraulic Cylinder 6 5 O VVVVVVVV