r1

02

04

r2
r4
A
r3
B

+ = +

ThegivenmechanismismappedtoalocalcoordinatesystemXY.
Fromthefigure,thepositionvectorscanbedefinedas
+ = +
Projectingthevectorsw.r.ttheXY coordinatesystem,wehavethefollowingequations
. cos

. cos

. cos

(1)
(2)

LetusDefine;
1;

(3)

Substituting(3)inequation(1),wehave
. cos

cos

. cos

Substituting(4)inequation(2),wehave
.

Rewritingtheaboveequations,wehave
.

. cos

. cos

cos

Eliminating ,weobtain;
cos

. cos

. cos

(4)

LetusAssume;
C

n; C

; C

cos

C . cos

Itisgiventhat;

45;

180;

315;

C . cos

(6)

140
270
300

Usingthevaluesinequation(6),wehavethebelowequations;
0.7071
C

0.0876. C

.766. C

0.7071

0.9659. C

0.5. C

Solvingfortheseequations,weobtain
C

2.581; C
2.586;

Assuming
0.831;

3.103; C
2.581;

1 . ;
1;

Using, these values in 5 , we have

0.831

; Which again using in 3 , yields

2.586 ;

2.581