A general vector r can be represented in complex polar with two parameters; a length r and an angle theta. Thus each vector can be represented as

In complex polar form the loop equation becomes

Rearranging the equation to solve for r1 and theta3 gives

Converting the right side into Cartesian form where

and

gives

Multiplying by exp(-i*theta1) gives

and equating the imaginary parts of both sides eliminates r1 and produces

Solving for theta3 yields two solutions

Please enter the data to calculate the angular position of link 3.

Unit Type:

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

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

Output option:

Display angular position Display crank-slider position -- Branch Number: 1 2