Beginning with the complex loop equation, the velocities are derived by first taking the derivative with res pect to time.

For the crank-slider the lengths r2, r3, r4, theta1, and theta4 are constant, thus

By definition:

Thus upon substitution, we obtain

This is the vector describing the velocity of link 1, the slider. In order to find the scalar values omega3 and v1 first multiply both sides by exp(-i*theta1) to produce

Equating the imaginary parts of both sides and solving for omega3 gives

The x component of velocity is the real part of the following equation

The y component of velocity is the imaginary part of the following equation

vy = omega2*cos(theta2) + omega3*cos(theta3)

Please enter the data to calculate the velocity of the slider.

Unit Type:

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

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

Angular Velocity:
**omega2:**