Example 3.2 Y X Y2 X Crank-slider mechanism is shown in the figure. The length of the crank is 1,and the length of the connecting link is l,write the velocity and acceleration constraint equations1 X1 Y1 X2 Y2 2 X Y Example 3.2 Crank-slider mechanism is shown in the figure. The length of the crank is 1, and the length of the connecting link is l, write the velocity and acceleration constraint equations