2) For the mechanism shown in the figure, the following data is given:- OA 25 cm, QB 60 cm, AB=75 cm, BC 50 cm, CD 100 cm, CG = 50 cm. ms -1.5 kg at G, G-50e143 m/s² Is 2 kg.m², as 50 rad/s² C.W. External force on link 6 is 100 N. Calculate the reaction forces at all joints, the driving torque at the crank OA, and the shaking force. Neglect inertia forces and torques for other links. Positions and angles are taken from drawing. 100 N D 50 cm 70 cm 60 cm-