PROBLEM 4: Find all the instant centers of the linkages shown in the following figures. A 002 002 B 02 02 Assume rolling contact (a) (b) C D2 3 B 02 2 002 Assume rolling contact Assume rolling contact (c) (d) 02 B 3 03 0 2 Assume roll-slide contact (e) (f)PROBLEM 4: Find all the instant centers of the linkages shown in the following figures