Mechanisms Assgn.4
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t2 rad t2 sin t2 cos t2 t3 d 0 0 0 1 -0.1001674212 -74.4987437 1 0.0174533 0.0174524064 0.9998477 -0.0957832909 -74.5454363 2 0.0349066 0.0348994967 0.99939083 -0.0914023411 -74.5978007 3 0.0523599 0.0523359562 0.99862953 -0.0870258176 -74.6558259 4 0.0698132 0.0697564737 0.99756405 -0.0826549637 -74.719501 5 0.0872665 0.0871557427 0.9961947 -0.0782910204 -74.7888149 6 0.1047198 0.1045284633 0.9945219 -0.0739352259 -74.8637562 7 0.122173 0.1218693434 0.99254615 -0.0695888157 -74.9443137 8 0.1396263 0.139173101 0.99026807 -0.0652530223 -75.030476 9 0.1570796 0.156434465 0.98768834 -0.0609290751 -75.1222313 10 0.1745329 0.1736481777 0.98480775 -0.0566182001 -75.219568 11 0.1919862 0.1908089954 0.98162718 -0.0523216201 -75.322474 12 0.2094395 0.2079116908 0.9781476 -0.0480405539 -75.4309374 13 0.2268928 0.2249510543 0.97437006 -0.0437762169 -75.5449458 14 0.2443461 0.2419218956 0.97029573 -0.0395298202 -75.6644867 15 0.2617994 0.2588190451 0.96592583 -0.035302571 -75.7895472 16 0.2792527 0.2756373558 0.9612617 -0.0310956721 -75.9201145 17 0.296706 0.2923717047 0.95630476 -0.0269103216 -76.056175 18 0.3141593 0.3090169944 0.95105652 -0.0227477132 -76.1977153 19 0.3316126 0.3255681545 0.94551858 -0.0186090354 -76.3447213 20 0.3490659 0.3420201433 0.93969262 -0.0144954718 -76.4971787 21 0.3665191 0.3583679495 0.93358043 -0.0104082005 -76.6550729 22 0.3839724 0.3746065934 0.92718385 -0.0063483943 -76.8183885 23 0.4014257 0.3907311285 0.92050485 -0.00231722 -76.9871102 24 0.418879 0.4067366431 0.91354546 0.00168416157 -77.1612217 25 0.4363323 0.4226182617 0.90630779 0.00565459557 -77.3407066 26 0.4537856 0.4383711468 0.89879405 0.00959293383 -77.5255477 27 0.4712389 0.4539904997 0.89100652 0.01349803481 -77.7157272 28 0.4886922 0.4694715628 0.88294759 0.01736876397 -77.9112269 29 0.5061455 0.4848096202 0.87461971 0.02120399394 -78.1120277 30 0.5235988 0.5 0.8660254 0.0250026049 -78.31811 31 0.5410521 0.5150380749 0.8571673 0.02876348475 -78.5294534 32 0.5585054 0.5299192642 0.8480481 0.03248552947 -78.7460368 33 0.5759587 0.544639035 0.83867057 0.03616764338 -78.967838 34 0.5934119 0.5591929035 0.82903757 0.03980873942 -79.1948344 35 0.6108652 0.5735764364 0.81915204 0.04340773951 -79.4270021 36 0.6283185 0.5877852523 0.80901699 0.0469635748 -79.6643165 37 0.6457718 0.6018150232 0.79863551 0.05047518604 -79.9067521 38 0.6632251 0.6156614753 0.78801075 0.05394152386 -80.154282 39 0.6806784 0.629320391 0.77714596 0.05736154916 -80.4068787 40 0.6981317 0.6427876097 0.76604444 0.06073423339 -80.6645133 41 0.715585 0.656059029 0.75470958 0.06405855896 -80.9271557 42 0.7330383 0.6691306064 0.74314483 0.06733351954 -81.1947749 43 0.7504916 0.6819983601 0.7313537 0.07055812044 -81.4673383
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Transcript of Mechanisms Assgn.4
Crank-Slider Mechanismt2 rad t2 sin t2 cos t2 t3 d w3
0 0 0 1 -0.10016742116 -74.49874371 7.53778361 0.01745329 0.01745240644 0.9998477 -0.09578329088 -74.54543628 7.53338862 0.03490659 0.0348994967 0.99939083 -0.09140234111 -74.59780066 7.52685043 0.05235988 0.05233595624 0.99862953 -0.08702581759 -74.65582592 7.5181734 0.06981317 0.06975647374 0.99756405 -0.08265496371 -74.71950102 7.50736035 0.08726646 0.08715574275 0.9961947 -0.0782910204 -74.78881487 7.4944176 0.10471976 0.10452846327 0.9945219 -0.07393522591 -74.86375622 7.47934757 0.12217305 0.12186934341 0.99254615 -0.06958881572 -74.94431374 7.4621578 0.13962634 0.13917310096 0.99026807 -0.06525302233 -75.03047597 7.44285069 0.15707963 0.15643446504 0.98768834 -0.06092907511 -75.12223129 7.4214338
10 0.17453293 0.17364817767 0.98480775 -0.05661820015 -75.21956796 7.397912411 0.19198622 0.19080899538 0.98162718 -0.05232162008 -75.32247404 7.372292612 0.20943951 0.20791169082 0.9781476 -0.04804055392 -75.43093743 7.344580613 0.2268928 0.22495105434 0.97437006 -0.04377621689 -75.54494582 7.314783214 0.2443461 0.2419218956 0.97029573 -0.03952982022 -75.66448668 7.282907415 0.26179939 0.2588190451 0.96592583 -0.03530257103 -75.78954724 7.248960316 0.27925268 0.27563735582 0.9612617 -0.03109567208 -75.92011446 7.212949717 0.29670597 0.29237170472 0.95630476 -0.02691032162 -76.05617502 7.174883418 0.31415927 0.30901699437 0.95105652 -0.02274771319 -76.19771529 7.134769819 0.33161256 0.32556815446 0.94551858 -0.01860903541 -76.3447213 7.092617420 0.34906585 0.34202014333 0.93969262 -0.01449547179 -76.49717873 7.048435121 0.36651914 0.35836794955 0.93358043 -0.01040820053 -76.65507285 7.002232522 0.38397244 0.37460659342 0.92718385 -0.00634839429 -76.81838854 6.95401923 0.40142573 0.39073112849 0.92050485 -0.00231721995 -76.98711019 6.903804924 0.41887902 0.40673664308 0.91354546 0.00168416157 -77.16122174 6.851600625 0.43633231 0.42261826174 0.90630779 0.00565459557 -77.34070661 6.797417126 0.45378561 0.43837114679 0.89879405 0.00959293383 -77.52554766 6.741265527 0.4712389 0.45399049974 0.89100652 0.01349803481 -77.71572719 6.683157728 0.48869219 0.46947156279 0.88294759 0.01736876397 -77.91122686 6.623105929 0.50614548 0.48480962025 0.87461971 0.02120399394 -78.1120277 6.561122730 0.52359878 0.5 0.8660254 0.0250026049 -78.31811002 6.497221231 0.54105207 0.51503807491 0.8571673 0.02876348475 -78.52945343 6.43141532 0.55850536 0.52991926423 0.8480481 0.03248552947 -78.74603675 6.363718333 0.57595865 0.54463903502 0.83867057 0.03616764338 -78.96783801 6.294145534 0.59341195 0.55919290347 0.82903757 0.03980873942 -79.19483436 6.222711835 0.61086524 0.57357643635 0.81915204 0.04340773951 -79.42700209 6.149432936 0.62831853 0.58778525229 0.80901699 0.0469635748 -79.66431654 6.074324937 0.64577182 0.60181502315 0.79863551 0.05047518604 -79.90675207 5.997404638 0.66322512 0.61566147533 0.78801075 0.05394152386 -80.15428203 5.918689339 0.68067841 0.62932039105 0.77714596 0.05736154916 -80.4068787 5.838196940 0.6981317 0.64278760969 0.76604444 0.06073423339 -80.66451325 5.755945941 0.71558499 0.65605902899 0.75470958 0.06405855896 -80.9271557 5.671955342 0.73303829 0.66913060636 0.74314483 0.06733351954 -81.19477485 5.586244943 0.75049158 0.68199836006 0.7313537 0.07055812044 -81.4673383 5.4988349
44 0.76794487 0.69465837046 0.7193398 0.07373137897 -81.7448123 5.409746445 0.78539816 0.70710678119 0.70710678 0.07685232485 -82.0271618 5.319000946 0.80285146 0.71933980034 0.69465837 0.07992000051 -82.31435036 5.226620647 0.82030475 0.73135370162 0.68199836 0.08293346154 -82.60634011 5.132628648 0.83775804 0.74314482548 0.66913061 0.08589177705 -82.90309169 5.037048349 0.85521133 0.75470958022 0.65605903 0.08879403004 -83.20456423 4.93990450 0.87266463 0.76604444312 0.64278761 0.09163931784 -83.51071529 4.841220651 0.89011792 0.77714596146 0.62932039 0.09442675245 -83.82150081 4.741023752 0.90757121 0.78801075361 0.61566148 0.09715546099 -84.13687506 4.639339653 0.9250245 0.79863551005 0.60181502 0.09982458606 -84.45679064 4.536195454 0.9424778 0.80901699437 0.58778525 0.10243328618 -84.78119835 4.431618655 0.95993109 0.81915204429 0.57357644 0.10498073617 -85.11004725 4.325637756 0.97738438 0.82903757256 0.5591929 0.10746612755 -85.44328452 4.218281757 0.99483767 0.83867056795 0.54463904 0.10988866896 -85.78085548 4.109580558 1.01229097 0.84804809616 0.52991926 0.11224758656 -86.12270353 3.999564359 1.02974426 0.8571673007 0.51503807 0.11454212443 -86.46877012 3.888264560 1.04719755 0.86602540378 0.5 0.11677154497 -86.81899467 3.775712861 1.06465084 0.87461970714 0.48480962 0.1189351293 -87.17331459 3.661941862 1.08210414 0.88294759286 0.46947156 0.12103217764 -87.53166521 3.546984563 1.09955743 0.89100652419 0.4539905 0.12306200974 -87.89397973 3.43087564 1.11701072 0.8987940463 0.43837115 0.12502396521 -88.26018924 3.313647765 1.13446401 0.90630778704 0.42261826 0.12691740394 -88.63022262 3.195337766 1.15191731 0.91354545764 0.40673664 0.12874170647 -89.00400657 3.075980967 1.1693706 0.92050485345 0.39073113 0.13049627434 -89.38146554 2.955613868 1.18682389 0.92718385457 0.37460659 0.13218053047 -89.76252171 2.834273269 1.20427718 0.9335804265 0.35836795 0.13379391949 -90.14709498 2.711996970 1.22173048 0.93969262079 0.34202014 0.13533590811 -90.53510295 2.588823171 1.23918377 0.9455185756 0.32556815 0.13680598542 -90.92646086 2.464790672 1.25663706 0.9510565163 0.30901699 0.13820366325 -91.32108163 2.339938673 1.27409035 0.95630475596 0.2923717 0.13952847645 -91.71887578 2.214307174 1.29154365 0.96126169594 0.27563736 0.14077998322 -92.11975148 2.087936475 1.30899694 0.96592582629 0.25881905 0.14195776537 -92.52361448 1.960867476 1.32645023 0.97029572628 0.2419219 0.14306142861 -92.93036814 1.833141377 1.34390352 0.97437006479 0.22495105 0.14409060281 -93.33991341 1.704799978 1.36135682 0.97814760073 0.20791169 0.14504494225 -93.75214884 1.575885479 1.37881011 0.98162718345 0.190809 0.14592412584 -94.16697053 1.446440380 1.3962634 0.98480775301 0.17364818 0.14672785738 -94.58427222 1.316507581 1.41371669 0.9876883406 0.15643447 0.1474558657 -95.0039452 1.186130382 1.43116999 0.99026806874 0.1391731 0.1481079049 -95.42587838 1.055352283 1.44862328 0.99254615164 0.12186934 0.14868375449 -95.84995828 0.92421784 1.46607657 0.99452189537 0.10452846 0.14918321956 -96.27606904 0.792768985 1.48352986 0.99619469809 0.08715574 0.14960613091 -96.70409246 0.661052186 1.50098316 0.99756405026 0.06975647 0.14995234515 -97.13390798 0.529111187 1.51843645 0.99862953475 0.05233596 0.15022174485 -97.56539274 0.396990688 1.53588974 0.99939082702 0.0348995 0.15041423857 -97.99842159 0.264735389 1.55334303 0.99984769516 0.01745241 0.15052976095 -98.43286711 0.132390190 1.57079633 1 6.12323E-17 0.15056827278 -98.86859967 4.645E-1691 1.58824962 0.99984769516 -0.01745241 0.15052976095 -99.30548743 -0.13239
92 1.60570291 0.99939082702 -0.0348995 0.15041423857 -99.74339642 -0.26473593 1.6231562 0.99862953475 -0.05233596 0.15022174485 -100.1821906 -0.39699194 1.6406095 0.99756405026 -0.06975647 0.14995234515 -100.6217317 -0.52911195 1.65806279 0.99619469809 -0.08715574 0.14960613091 -101.0618796 -0.66105296 1.67551608 0.99452189537 -0.10452846 0.14918321956 -101.5024922 -0.79276997 1.69296937 0.99254615164 -0.12186934 0.14868375449 -101.9434254 -0.92421798 1.71042267 0.99026806874 -0.1391731 0.1481079049 -102.3845334 -1.05535299 1.72787596 0.9876883406 -0.15643447 0.1474558657 -102.8256684 -1.18613
100 1.74532925 0.98480775301 -0.17364818 0.14672785738 -103.2666811 -1.316508101 1.76278254 0.98162718345 -0.190809 0.14592412584 -103.7074203 -1.44644102 1.78023584 0.97814760073 -0.20791169 0.14504494225 -104.1477334 -1.575885103 1.79768913 0.97437006479 -0.22495105 0.14409060281 -104.5874661 -1.7048104 1.81514242 0.97029572628 -0.2419219 0.14306142861 -105.0264629 -1.833141105 1.83259571 0.96592582629 -0.25881905 0.14195776537 -105.4645667 -1.960867106 1.85004901 0.96126169594 -0.27563736 0.14077998322 -105.9016193 -2.087936107 1.8675023 0.95630475596 -0.2923717 0.13952847645 -106.337461 -2.214307108 1.88495559 0.9510565163 -0.30901699 0.13820366325 -106.7719313 -2.339939109 1.90240888 0.9455185756 -0.32556815 0.13680598542 -107.2048686 -2.464791110 1.91986218 0.93969262079 -0.34202014 0.13533590811 -107.6361101 -2.588823111 1.93731547 0.9335804265 -0.35836795 0.13379391949 -108.0654925 -2.711997112 1.95476876 0.92718385457 -0.37460659 0.13218053047 -108.4928514 -2.834273113 1.97222205 0.92050485345 -0.39073113 0.13049627434 -108.918022 -2.955614114 1.98967535 0.91354545764 -0.40673664 0.12874170647 -109.3408387 -3.075981115 2.00712864 0.90630778704 -0.42261826 0.12691740394 -109.7611357 -3.195338116 2.02458193 0.8987940463 -0.43837115 0.12502396521 -110.1787466 -3.313648117 2.04203522 0.89100652419 -0.4539905 0.12306200974 -110.5935047 -3.430875118 2.05948852 0.88294759286 -0.46947156 0.12103217764 -111.0052433 -3.546985119 2.07694181 0.87461970714 -0.48480962 0.1189351293 -111.4137956 -3.661942120 2.0943951 0.86602540378 -0.5 0.11677154497 -111.8189947 -3.775713121 2.11184839 0.8571673007 -0.51503807 0.11454212443 -112.2206739 -3.888265122 2.12930169 0.84804809616 -0.52991926 0.11224758656 -112.6186667 -3.999564123 2.14675498 0.83867056795 -0.54463904 0.10988866896 -113.0128072 -4.10958124 2.16420827 0.82903757256 -0.5591929 0.10746612755 -113.4029297 -4.218282125 2.18166156 0.81915204429 -0.57357644 0.10498073617 -113.7888691 -4.325638126 2.19911486 0.80901699437 -0.58778525 0.10243328618 -114.170461 -4.431619127 2.21656815 0.79863551005 -0.60181502 0.09982458606 -114.5475418 -4.536195128 2.23402144 0.78801075361 -0.61566148 0.09715546099 -114.9199488 -4.63934129 2.25147474 0.77714596146 -0.62932039 0.09442675245 -115.2875204 -4.741024130 2.26892803 0.76604444312 -0.64278761 0.09163931784 -115.6500958 -4.841221131 2.28638132 0.75470958022 -0.65605903 0.08879403004 -116.0075157 -4.939904132 2.30383461 0.74314482548 -0.66913061 0.08589177705 -116.359622 -5.037048133 2.32128791 0.73135370162 -0.68199836 0.08293346154 -116.7062581 -5.132629134 2.3387412 0.71933980034 -0.69465837 0.07992000051 -117.0472689 -5.226621135 2.35619449 0.70710678119 -0.70710678 0.07685232485 -117.3825009 -5.319001136 2.37364778 0.69465837046 -0.7193398 0.07373137897 -117.7118023 -5.409746137 2.39110108 0.68199836006 -0.7313537 0.07055812044 -118.0350234 -5.498835138 2.40855437 0.66913060636 -0.74314483 0.06733351954 -118.3520161 -5.586245139 2.42600766 0.65605902899 -0.75470958 0.06405855896 -118.6626347 -5.671955
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284 4.95673508 -0.9702957263 0.2419219 -0.34965524279 -87.90103996 1.9312739285 4.97418837 -0.9659258263 0.25881905 -0.34849265169 -87.51837506 2.0652905286 4.99164166 -0.9612616959 0.27563736 -0.3472523235 -87.1401999 2.1985061287 5.00909495 -0.956304756 0.2923717 -0.34593473867 -86.76659898 2.3308711288 5.02654825 -0.9510565163 0.30901699 -0.34454040617 -86.39765377 2.4623371289 5.04400154 -0.9455185756 0.32556815 -0.34306986304 -86.03344265 2.592856290 5.06145483 -0.9396926208 0.34202014 -0.34152367394 -85.674041 2.722381291 5.07890812 -0.9335804265 0.35836795 -0.33990243068 -85.31952118 2.8508656292 5.09636142 -0.9271838546 0.37460659 -0.3382067517 -84.96995262 2.9782646293 5.11381471 -0.9205048535 0.39073113 -0.33643728158 -84.62540183 3.1045335294 5.131268 -0.9135454576 0.40673664 -0.3345946905 -84.28593246 3.2296288295 5.14872129 -0.906307787 0.42261826 -0.33267967373 -83.95160529 3.3535077296 5.16617459 -0.8987940463 0.43837115 -0.33069295105 -83.62247838 3.4761287297 5.18362788 -0.8910065242 0.4539905 -0.32863526618 -83.29860699 3.597451298 5.20108117 -0.8829475929 0.46947156 -0.32650738624 -82.98004376 3.717435299 5.21853446 -0.8746197071 0.48480962 -0.32431010116 -82.66683866 3.836042300 5.23598776 -0.8660254038 0.5 -0.32204422307 -82.3590391 3.9532342301 5.25344105 -0.8571673007 0.51503807 -0.31971058574 -82.05668996 4.0689751302 5.27089434 -0.8480480962 0.52991926 -0.31731004393 -81.7598337 4.183229303 5.28834763 -0.8386705679 0.54463904 -0.31484347285 -81.46851032 4.2959613304 5.30580093 -0.8290375726 0.5591929 -0.31231176752 -81.18275752 4.4071386305 5.32325422 -0.8191520443 0.57357644 -0.30971584215 -80.90261072 4.5167282306 5.34070751 -0.8090169944 0.58778525 -0.30705662957 -80.62810309 4.6246988307 5.3581608 -0.79863551 0.60181502 -0.30433508058 -80.35926567 4.73102308 5.3756141 -0.7880107536 0.61566148 -0.30155216339 -80.0961274 4.8356624309 5.39306739 -0.7771459615 0.62932039 -0.29870886297 -79.83871521 4.9385976310 5.41052068 -0.7660444431 0.64278761 -0.29580618049 -79.58705402 5.0397984311 5.42797397 -0.7547095802 0.65605903 -0.2928451327 -79.3411669 5.1392385312 5.44542727 -0.7431448255 0.66913061 -0.28982675136 -79.10107504 5.2368925313 5.46288056 -0.7313537016 0.68199836 -0.28675208264 -78.86679788 5.3327363314 5.48033385 -0.7193398003 0.69465837 -0.28362218652 -78.63835315 5.4267465315 5.49778714 -0.7071067812 0.70710678 -0.2804381363 -78.41575693 5.5189008316 5.51524044 -0.6946583705 0.7193398 -0.27720101793 -78.19902371 5.6091778317 5.53269373 -0.6819983601 0.7313537 -0.27391192956 -77.98816647 5.6975572318 5.55014702 -0.6691306064 0.74314483 -0.27057198092 -77.78319671 5.7840194319 5.56760031 -0.656059029 0.75470958 -0.26718229281 -77.58412455 5.8685458320 5.58505361 -0.6427876097 0.76604444 -0.2637439966 -77.39095877 5.9511189321 5.6025069 -0.629320391 0.77714596 -0.26025823368 -77.20370687 6.0317216322 5.61996019 -0.6156614753 0.78801075 -0.25672615499 -77.02237512 6.1103382323 5.63741348 -0.6018150232 0.79863551 -0.25314892048 -76.84696864 6.1869534324 5.65486678 -0.5877852523 0.80901699 -0.24952769869 -76.67749143 6.261553325 5.67232007 -0.5735764364 0.81915204 -0.24586366625 -76.51394644 6.3341234326 5.68977336 -0.5591929035 0.82903757 -0.24215800742 -76.35633563 6.4046519327 5.70722665 -0.544639035 0.83867057 -0.23841191365 -76.20466001 6.4731265328 5.72467995 -0.5299192642 0.8480481 -0.23462658316 -76.0589197 6.539536329 5.74213324 -0.5150380749 0.8571673 -0.23080322051 -75.91911395 6.6038698330 5.75958653 -0.5 0.8660254 -0.22694303618 -75.78524125 6.666118331 5.77703982 -0.4848096202 0.87461971 -0.2230472462 -75.65729932 6.7262715
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Crank-Slider Mechanismd. al 3 d.. a b c w2 al2
-75.377836 3.0836388 -16877.5 25 100 10 30 35-85.136297 -0.608493 -16856.84 25 100 10 30 35-94.876045 -4.296706 -16835.91 25 100 10 30 35-104.59693 -7.98053 -16814.69 25 100 10 30 35-114.29878 -11.6595 -16793.16 25 100 10 30 35-123.98144 -15.33313 -16771.3 25 100 10 30 35-133.64471 -19.00096 -16749.07 25 100 10 30 35-143.28837 -22.66252 -16726.44 25 100 10 30 35-152.91222 -26.3173 -16703.39 25 100 10 30 35-162.51599 -29.96484 -16679.86 25 100 10 30 35-172.09941 -33.60463 -16655.81 25 100 10 30 35-181.66218 -37.23616 -16631.2 25 100 10 30 35-191.20397 -40.85893 -16605.97 25 100 10 30 35-200.72442 -44.4724 -16580.06 25 100 10 30 35-210.22313 -48.07604 -16553.41 25 100 10 30 35-219.69966 -51.6693 -16525.96 25 100 10 30 35-229.15355 -55.25162 -16497.64 25 100 10 30 35-238.58429 -58.82241 -16468.38 25 100 10 30 35-247.99132 -62.38109 -16438.09 25 100 10 30 35-257.37403 -65.92704 -16406.71 25 100 10 30 35-266.73179 -69.45964 -16374.15 25 100 10 30 35-276.06389 -72.97823 -16340.32 25 100 10 30 35-285.3696 -76.48216 -16305.12 25 100 10 30 35
-294.64811 -79.97075 -16268.48 25 100 10 30 35-303.89856 -83.44328 -16230.28 25 100 10 30 35-313.12005 -86.89904 -16190.44 25 100 10 30 35-322.31161 -90.33728 -16148.84 25 100 10 30 35-331.4722 -93.75723 -16105.39 25 100 10 30 35
-340.60073 -97.15811 -16059.96 25 100 10 30 35-349.69606 -100.5391 -16012.45 25 100 10 30 35-358.75695 -103.8994 -15962.75 25 100 10 30 35-367.78212 -107.2381 -15910.74 25 100 10 30 35-376.77021 -110.5544 -15856.29 25 100 10 30 35-385.7198 -113.8474 -15799.28 25 100 10 30 35
-394.62939 -117.116 -15739.59 25 100 10 30 35-403.49741 -120.3595 -15677.1 25 100 10 30 35-412.32222 -123.5768 -15611.67 25 100 10 30 35-421.10211 -126.767 -15543.17 25 100 10 30 35-429.83527 -129.929 -15471.47 25 100 10 30 35-438.51985 -133.0618 -15396.44 25 100 10 30 35-447.1539 -136.1644 -15317.93 25 100 10 30 35
-455.73539 -139.2357 -15235.82 25 100 10 30 35-464.26222 -142.2746 -15149.97 25 100 10 30 35-472.73221 -145.2801 -15060.23 25 100 10 30 35
-481.1431 -148.2509 -14966.47 25 100 10 30 35-489.49255 -151.1859 -14868.55 25 100 10 30 35-497.77815 -154.0841 -14766.33 25 100 10 30 35-505.99739 -156.9442 -14659.67 25 100 10 30 35-514.14769 -159.7651 -14548.42 25 100 10 30 35-522.2264 -162.5455 -14432.46 25 100 10 30 35
-530.23079 -165.2843 -14311.64 25 100 10 30 35-538.15802 -167.9803 -14185.82 25 100 10 30 35-546.00522 -170.6322 -14054.87 25 100 10 30 35-553.76942 -173.2389 -13918.66 25 100 10 30 35-561.44756 -175.799 -13777.05 25 100 10 30 35-569.03654 -178.3114 -13629.9 25 100 10 30 35-576.53315 -180.7748 -13477.1 25 100 10 30 35-583.93413 -183.1881 -13318.52 25 100 10 30 35-591.23614 -185.5499 -13154.02 25 100 10 30 35-598.43579 -187.8591 -12983.5 25 100 10 30 35-605.5296 -190.1145 -12806.83 25 100 10 30 35
-612.51404 -192.3148 -12623.91 25 100 10 30 35-619.3855 -194.4589 -12434.62 25 100 10 30 35
-626.14034 -196.5455 -12238.86 25 100 10 30 35-632.77484 -198.5736 -12036.52 25 100 10 30 35-639.28523 -200.542 -11827.52 25 100 10 30 35-645.66769 -202.4495 -11611.77 25 100 10 30 35-651.91836 -204.295 -11389.17 25 100 10 30 35-658.03331 -206.0775 -11159.65 25 100 10 30 35-664.00861 -207.7958 -10923.14 25 100 10 30 35-669.84025 -209.4491 -10679.57 25 100 10 30 35-675.52421 -211.0362 -10428.87 25 100 10 30 35-681.05643 -212.5562 -10171.01 25 100 10 30 35-686.43283 -214.0082 -9905.924 25 100 10 30 35-691.6493 -215.3912 -9633.581 25 100 10 30 35
-696.70173 -216.7045 -9353.948 25 100 10 30 35-701.58598 -217.9471 -9067.002 25 100 10 30 35-706.2979 -219.1184 -8772.726 25 100 10 30 35
-710.83334 -220.2175 -8471.113 25 100 10 30 35-715.18816 -221.2437 -8162.165 25 100 10 30 35-719.35822 -222.1965 -7845.89 25 100 10 30 35-723.33938 -223.0752 -7522.306 25 100 10 30 35-727.12753 -223.8792 -7191.441 25 100 10 30 35-730.71858 -224.6081 -6853.33 25 100 10 30 35-734.10846 -225.2614 -6508.018 25 100 10 30 35-737.29313 -225.8387 -6155.56 25 100 10 30 35-740.26859 -226.3397 -5796.019 25 100 10 30 35-743.03089 -226.764 -5429.467 25 100 10 30 35-745.57612 -227.1114 -5055.988 25 100 10 30 35-747.90042 -227.3817 -4675.672 25 100 10 30 35
-750 -227.5748 -4288.622 25 100 10 30 35-751.87112 -227.6906 -3894.947 25 100 10 30 35
-753.51012 -227.7291 -3494.767 25 100 10 30 35-754.91341 -227.6903 -3088.212 25 100 10 30 35-756.07748 -227.5743 -2675.421 25 100 10 30 35-756.99892 -227.3812 -2256.541 25 100 10 30 35-757.67438 -227.1112 -1831.731 25 100 10 30 35-758.10064 -226.7646 -1401.155 25 100 10 30 35-758.27457 -226.3417 -964.9893 25 100 10 30 35-758.19313 -225.8428 -523.4177 25 100 10 30 35-757.85341 -225.2683 -76.6326 25 100 10 30 35-757.25261 -224.6187 375.16493 25 100 10 30 35-756.38806 -223.8945 831.7657 25 100 10 30 35-755.2572 -223.0962 1292.9525 25 100 10 30 35
-753.85761 -222.2245 1758.5002 25 100 10 30 35-752.18701 -221.2799 2228.1762 25 100 10 30 35-750.24324 -220.2631 2701.7404 25 100 10 30 35-748.02431 -219.1749 3178.946 25 100 10 30 35-745.52835 -218.0161 3659.539 25 100 10 30 35-742.75366 -216.7874 4143.259 25 100 10 30 35-739.69868 -215.4897 4629.8396 25 100 10 30 35-736.36203 -214.1238 5119.0083 25 100 10 30 35-732.74247 -212.6908 5610.487 25 100 10 30 35-728.83892 -211.1914 6103.9924 25 100 10 30 35-724.65049 -209.6267 6599.2362 25 100 10 30 35-720.17645 -207.9978 7095.9255 25 100 10 30 35-715.41623 -206.3055 7593.7632 25 100 10 30 35-710.36944 -204.5509 8092.4481 25 100 10 30 35-705.03589 -202.7352 8591.6756 25 100 10 30 35-699.41552 -200.8593 9091.1377 25 100 10 30 35-693.5085 -198.9245 9590.5235 25 100 10 30 35
-687.31516 -196.9317 10089.52 25 100 10 30 35-680.836 -194.8822 10587.811 25 100 10 30 35
-674.07173 -192.7771 11085.079 25 100 10 30 35-667.02321 -190.6175 11581.006 25 100 10 30 35-659.69153 -188.4045 12075.271 25 100 10 30 35-652.07793 -186.1394 12567.554 25 100 10 30 35-644.18385 -183.8233 13057.532 25 100 10 30 35-636.01091 -181.4574 13544.886 25 100 10 30 35-627.56092 -179.0427 14029.292 25 100 10 30 35-618.83588 -176.5805 14510.432 25 100 10 30 35-609.83797 -174.072 14987.984 25 100 10 30 35-600.56955 -171.5182 15461.63 25 100 10 30 35-591.03316 -168.9204 15931.052 25 100 10 30 35-581.23155 -166.2796 16395.936 25 100 10 30 35-571.16762 -163.5969 16855.967 25 100 10 30 35-560.84445 -160.8736 17310.835 25 100 10 30 35-550.26533 -158.1107 17760.231 25 100 10 30 35-539.43369 -155.3092 18203.849 25 100 10 30 35-528.35316 -152.4703 18641.388 25 100 10 30 35
-517.02752 -149.595 19072.548 25 100 10 30 35-505.46073 -146.6843 19497.035 25 100 10 30 35-493.65694 -143.7393 19914.556 25 100 10 30 35-481.62043 -140.761 20324.824 25 100 10 30 35-469.35566 -137.7503 20727.558 25 100 10 30 35-456.86724 -134.7082 21122.478 25 100 10 30 35-444.15997 -131.6357 21509.311 25 100 10 30 35-431.23875 -128.5337 21887.79 25 100 10 30 35-418.10869 -125.4031 22257.65 25 100 10 30 35
-404.775 -122.2448 22618.635 25 100 10 30 35-391.24305 -119.0596 22970.492 25 100 10 30 35-377.51837 -115.8484 23312.974 25 100 10 30 35-363.60661 -112.612 23645.841 25 100 10 30 35-349.51355 -109.3513 23968.86 25 100 10 30 35-335.24511 -106.0669 24281.801 25 100 10 30 35-320.80734 -102.7597 24584.442 25 100 10 30 35-306.2064 -99.43035 24876.569 25 100 10 30 35
-291.44858 -96.07962 25157.973 25 100 10 30 35-276.54029 -92.70821 25428.451 25 100 10 30 35-261.48803 -89.31677 25687.809 25 100 10 30 35-246.29843 -85.90598 25935.859 25 100 10 30 35-230.9782 -82.47648 26172.419 25 100 10 30 35
-215.53418 -79.02889 26397.316 25 100 10 30 35-199.97327 -75.56381 26610.383 25 100 10 30 35-184.30248 -72.08183 26811.462 25 100 10 30 35-168.52891 -68.58354 27000.4 25 100 10 30 35-152.65972 -65.06949 27177.054 25 100 10 30 35-136.70216 -61.54023 27341.287 25 100 10 30 35-120.66357 -57.99628 27492.971 25 100 10 30 35-104.55131 -54.43818 27631.985 25 100 10 30 35-88.372859 -50.86642 27758.216 25 100 10 30 35-72.135712 -47.28152 27871.559 25 100 10 30 35-55.847435 -43.68396 27971.917 25 100 10 30 35-39.515642 -40.07422 28059.201 25 100 10 30 35-23.14799 -36.45278 28133.33 25 100 10 30 35
-6.7521744 -32.8201 28194.233 25 100 10 30 359.66407343 -29.17667 28241.844 25 100 10 30 3526.0929932 -25.52293 28276.108 25 100 10 30 3542.5267995 -21.85936 28296.977 25 100 10 30 3558.9576873 -18.1864 28304.412 25 100 10 30 3575.3778361 -14.50452 28298.383 25 100 10 30 3591.7794159 -10.81419 28278.867 25 100 10 30 35108.154591 -7.115863 28245.85 25 100 10 30 35124.495526 -3.410015 28199.329 25 100 10 30 35140.794391 0.3028774 28139.305 25 100 10 30 35157.043364 4.0223326 28065.792 25 100 10 30 35173.234641 7.7478584 27978.811 25 100 10 30 35189.360436 11.478953 27878.391 25 100 10 30 35
205.412988 15.215104 27764.572 25 100 10 30 35221.384567 18.955785 27637.4 25 100 10 30 35237.267479 22.700457 27496.931 25 100 10 30 35253.05407 26.448565 27343.232 25 100 10 30 35268.73673 30.199537 27176.375 25 100 10 30 35
284.307903 33.952784 26996.444 25 100 10 30 35299.760087 37.707697 26803.531 25 100 10 30 35315.08584 41.463646 26597.736 25 100 10 30 35
330.277789 45.219981 26379.169 25 100 10 30 35345.32863 48.976025 26147.949 25 100 10 30 35
360.231137 52.73108 25904.203 25 100 10 30 35374.978165 56.484421 25648.068 25 100 10 30 35389.562657 60.235297 25379.69 25 100 10 30 35403.977646 63.982929 25099.222 25 100 10 30 35418.216265 67.726508 24806.829 25 100 10 30 35432.271745 71.465196 24502.682 25 100 10 30 35446.137428 75.198124 24186.962 25 100 10 30 35459.806768 78.924392 23859.859 25 100 10 30 35473.273334 82.643064 23521.571 25 100 10 30 35486.530819 86.353174 23172.307 25 100 10 30 35499.573044 90.05372 22812.28 25 100 10 30 35512.393959 93.743667 22441.717 25 100 10 30 35524.987656 97.421943 22060.849 25 100 10 30 35537.348364 101.08744 21669.917 25 100 10 30 35549.470461 104.73901 21269.172 25 100 10 30 35561.348477 108.37548 20858.87 25 100 10 30 35572.977095 111.99563 20439.277 25 100 10 30 35584.35116 115.5982 20010.666 25 100 10 30 35
595.465682 119.18191 19573.318 25 100 10 30 35606.315839 122.74543 19127.522 25 100 10 30 35616.896984 126.28738 18673.574 25 100 10 30 35627.204645 129.80638 18211.777 25 100 10 30 35637.234532 133.30098 17742.44 25 100 10 30 35646.982542 136.76973 17265.88 25 100 10 30 35656.444758 140.2111 16782.422 25 100 10 30 35665.617458 143.62356 16292.393 25 100 10 30 35674.497114 147.00554 15796.129 25 100 10 30 35683.080398 150.35545 15293.972 25 100 10 30 35691.364183 153.67164 14786.267 25 100 10 30 35699.34555 156.95247 14273.367 25 100 10 30 35
707.021784 160.19623 13755.627 25 100 10 30 35714.390382 163.40123 13233.408 25 100 10 30 35721.449055 166.56573 12707.074 25 100 10 30 35728.195727 169.68796 12176.994 25 100 10 30 35734.628538 172.76617 11643.539 25 100 10 30 35740.745847 175.79855 11107.084 25 100 10 30 35746.546233 178.78331 10568 25 100 10 30 35752.028494 181.71862 10026.679 25 100 10 30 35
757.191652 184.60266 9483.4885 25 100 10 30 35762.034948 187.43361 8938.8139 25 100 10 30 35766.557847 190.20962 8393.0369 25 100 10 30 35770.760037 192.92887 7846.5394 25 100 10 30 35774.641427 195.58952 7299.7027 25 100 10 30 35778.202148 198.18975 6752.9073 25 100 10 30 35781.442553 200.72775 6206.5323 25 100 10 30 35784.363212 203.20172 5660.9549 25 100 10 30 35786.964916 205.60987 5116.5496 25 100 10 30 35789.248671 207.95045 4573.6882 25 100 10 30 35791.215699 210.22171 4032.7387 25 100 10 30 35792.867431 212.42195 3494.0652 25 100 10 30 35794.20551 214.54949 2958.0271 25 100 10 30 35
795.231785 216.60268 2424.9787 25 100 10 30 35795.948308 218.57991 1895.2687 25 100 10 30 35796.357331 220.47964 1369.2395 25 100 10 30 35796.461301 222.30033 847.22694 25 100 10 30 35796.262857 224.04053 329.55953 25 100 10 30 35795.764824 225.69883 -183.4419 25 100 10 30 35794.970211 227.27385 -691.4645 25 100 10 30 35793.882204 228.76431 -1194.204 25 100 10 30 35792.504161 230.16898 -1691.367 25 100 10 30 35790.839605 231.48668 -2182.666 25 100 10 30 35788.892221 232.71631 -2667.827 25 100 10 30 35786.665848 233.85685 -3146.584 25 100 10 30 35784.164475 234.90735 -3618.683 25 100 10 30 35781.392232 235.86693 -4083.882 25 100 10 30 35778.353384 236.73479 -4541.947 25 100 10 30 35775.052325 237.51022 -4992.659 25 100 10 30 35771.49357 238.19258 -5435.81 25 100 10 30 35
767.681749 238.78133 -5871.204 25 100 10 30 35763.621599 239.27599 -6298.657 25 100 10 30 35759.317957 239.67621 -6717.998 25 100 10 30 35754.775753 239.98169 -7129.071 25 100 10 30 35
750 240.19223 -7531.728 25 100 10 30 35744.99579 240.30772 -7925.839 25 100 10 30 35
739.768283 240.32815 -8311.284 25 100 10 30 35734.322703 240.25358 -8687.957 25 100 10 30 35728.664327 240.08417 -9055.765 25 100 10 30 35722.798477 239.82017 -9414.629 25 100 10 30 35716.730518 239.46192 -9764.482 25 100 10 30 35710.465843 239.00982 -10105.27 25 100 10 30 35704.009871 238.4644 -10436.95 25 100 10 30 35697.368035 237.82624 -10759.5 25 100 10 30 35690.545781 237.09601 -11072.89 25 100 10 30 35683.548555 236.27446 -11377.13 25 100 10 30 35676.381797 235.36243 -11672.23 25 100 10 30 35669.050936 234.36082 -11958.19 25 100 10 30 35
661.561385 233.27062 -12235.06 25 100 10 30 35653.918528 232.09286 -12502.88 25 100 10 30 35646.12772 230.82867 -12761.7 25 100 10 30 35
638.194277 229.47923 -13011.58 25 100 10 30 35630.123474 228.04579 -13252.6 25 100 10 30 35621.920532 226.52964 -13484.84 25 100 10 30 35613.590623 224.93214 -13708.39 25 100 10 30 35605.138855 223.25469 -13923.35 25 100 10 30 35596.570272 221.49877 -14129.84 25 100 10 30 35587.88985 219.66586 -14327.98 25 100 10 30 35
579.102488 217.75751 -14517.88 25 100 10 30 35570.213009 215.7753 -14699.68 25 100 10 30 35561.226153 213.72084 -14873.51 25 100 10 30 35552.146574 211.59577 -15039.54 25 100 10 30 35542.978837 209.40176 -15197.9 25 100 10 30 35533.727413 207.14051 -15348.75 25 100 10 30 35524.396679 204.81373 -15492.25 25 100 10 30 35514.990914 202.42314 -15628.57 25 100 10 30 35505.514297 199.97049 -15757.88 25 100 10 30 35495.970904 197.45752 -15880.35 25 100 10 30 35486.364707 194.88599 -15996.16 25 100 10 30 35476.699572 192.25765 -16105.48 25 100 10 30 35466.979258 189.57427 -16208.49 25 100 10 30 35457.207418 186.8376 -16305.39 25 100 10 30 35447.387592 184.04938 -16396.34 25 100 10 30 35437.523215 181.21136 -16481.54 25 100 10 30 35427.617609 178.32526 -16561.17 25 100 10 30 35417.673988 175.39279 -16635.42 25 100 10 30 35407.695454 172.41565 -16704.46 25 100 10 30 35397.685003 169.39552 -16768.5 25 100 10 30 35387.645517 166.33405 -16827.7 25 100 10 30 35377.579774 163.23288 -16882.25 25 100 10 30 35367.490442 160.09363 -16932.34 25 100 10 30 35357.380082 156.91786 -16978.13 25 100 10 30 35347.251151 153.70714 -17019.82 25 100 10 30 35337.106001 150.463 -17057.57 25 100 10 30 35326.946882 147.18693 -17091.56 25 100 10 30 35316.775942 143.8804 -17121.96 25 100 10 30 35306.595229 140.54484 -17148.93 25 100 10 30 35296.406695 137.18165 -17172.64 25 100 10 30 35286.212197 133.7922 -17193.24 25 100 10 30 35276.013495 130.37782 -17210.9 25 100 10 30 35265.812261 126.93982 -17225.77 25 100 10 30 35255.610076 123.47944 -17238 25 100 10 30 35245.408435 119.99793 -17247.73 25 100 10 30 35235.208748 116.49647 -17255.11 25 100 10 30 35225.012344 112.97622 -17260.27 25 100 10 30 35214.820471 109.4383 -17263.34 25 100 10 30 35
204.634301 105.8838 -17264.46 25 100 10 30 35194.454931 102.31378 -17263.74 25 100 10 30 35184.283386 98.729254 -17261.32 25 100 10 30 35174.120625 95.131204 -17257.29 25 100 10 30 35163.967536 91.520587 -17251.78 25 100 10 30 35153.824948 87.898322 -17244.89 25 100 10 30 35143.693626 84.265299 -17236.72 25 100 10 30 35133.574278 80.622377 -17227.37 25 100 10 30 35123.467558 76.970384 -17216.92 25 100 10 30 35113.374066 73.31012 -17205.47 25 100 10 30 35103.294355 69.642357 -17193.1 25 100 10 30 3593.2289273 65.967841 -17179.88 25 100 10 30 3583.1782451 62.28729 -17165.89 25 100 10 30 3573.1427278 58.6014 -17151.19 25 100 10 30 3563.1227568 54.910842 -17135.85 25 100 10 30 3553.1186784 51.216265 -17119.93 25 100 10 30 3543.130806 47.518297 -17103.47 25 100 10 30 35
33.1594234 43.817546 -17086.54 25 100 10 30 3523.2047875 40.114601 -17069.16 25 100 10 30 3513.2671306 36.410036 -17051.38 25 100 10 30 353.34666377 32.704407 -17033.24 25 100 10 30 35-6.5564206 28.998255 -17014.76 25 100 10 30 35-16.441946 25.29211 -16995.96 25 100 10 30 35-26.30975 21.586487 -16976.88 25 100 10 30 35-36.15968 17.881894 -16957.52 25 100 10 30 35
-45.991592 14.178826 -16937.9 25 100 10 30 35-55.805346 10.477774 -16918.02 25 100 10 30 35-65.600806 6.7792189 -16897.89 25 100 10 30 35-75.377836 3.0836388 -16877.5 25 100 10 30 35
Crank-Slider MechanismFormulas
t 3=asin(((a*sin(t2))-c)/b)
d=(a*cos(t2))-(b*cos(t3))
w3=(a*cos t2*w2)/(b*cos t3)
d'=(-a*w2*sin t2)+(b*w3*sin t3)
al2=((a*al2*cost2)-(a*w2*w2*sint2)+(b*w3*w3*sint3))/(b*cost3)
d''=(-a*al2*sint2)-(a*w2*w2*cost2)+(b*al3*sint3)+(b*w3*w3*cost3)
wheret=thetaw=angular velocityal=alpha
0 50 100 150 200 250 300 350 400
-0.4
-0.3
-0.2
-0.1
0
0.1
0.2
361 -0.10016742116156
t2 Vs t3
t3
t2
t3
0 50 100 150 200 250 300 350 400
-300
-200
-100
0
100
200
300
t2 Vs al3
al 3
t 2
al 3
0 50 100 150 200 250 300 350 400
-10-8-6-4-202468
10
t2 Vs w3
w3
t2
w3
0 50 100 150 200 250 300 350 400
-300
-200
-100
0
100
200
300
t2 Vs al3
al 3
t 2
al 3
0 50 100 150 200 250 300 350 400
-10-8-6-4-202468
10
t2 Vs w3
w3
t2
w3
