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planar closed kinematic chain

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  1. A planar closed kinematic chain is formed with rigid links PQ=2.0 m, QR = 3.0 m, RS = 2.5 m and SP = 2.7 m with all revolute joints. The link to be fixed to obtain a double rocker (rocker-rocker) mechanism is                                                            

      (a) PQ                             (b) QR                         (c) RS                             (d) SP

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