Chapter 4, Problem 4.30P

For the linkage in Figure P4-15, find its limit (toggle) positions in terms of the angle of link $O_{4}B$ referenced to the line of centers $O_4{O}_2$ when driven from link $O_{4}B$. Then calculate and plot the angular displacement of links 2 and 3 and the path coordinates of point P between those limits, with respect to the angle of the input crank $O_{4}B$ over its possible range of motion referenced to the line of centers $O_4{O}_2$.