By definition

Substituting these and the previously defined values gives

Multiplying by exp(-i*theta1) yields

i*alpha3*r3*exp[i(theta3-theta1)] -omega3*omega3*r3*exp[i(theta3-theta1)]

Equating the imaginary parts and solving for alpha3 gives

Please enter the data to calculate the angular acceleration, alpha3.

Unit Type:

Link lengths (m or ft):
**r2:** **r3:** **r4:** **rp:**

Angles:
**theta1:** **theta2:** **beta:**

**omega2:**

**alpha2:**