Consider the mechanism shown in the figure. There is rolling contact without slip between the disc and ground.

Select the correct statement about instantaneous centers in the mechanism.

Options :

1. Only points P, Q, and S are instantaneous centers of mechanism

2. Only points P, Q, S and T are instantaneous centers of mechanism

3. Only points P, Q, R, S, and U are instantaneous centers of mechanism

4. All points P, Q, R, S, T and U are instantaneous centers of mechanism