Recent content by iroZn

Yeah, well what I ended up doing is just throwing Freudenstein's eqn into Mathematica, have it solve it for θ5 and then just use that... it wasn't a pretty equation, but it seemed to have gotten the job done: y = -cos^(-1)((160 cos^2(x)-582 cos(x)-2 sqrt(9216 sin^4(x)+49319 sin^2(x)+2816...

Homework Statement Tabulate and plot the angular position, velocity and acceleration of θ4 for t=0 to t=10 in increments of 0.1 r1= 30 mm r2 = 12 mm r3 = 39 mm r4 = 36 mm θ2 = 0.1t (radians) The Attempt at a Solution Well first I wrote this down: r1 = r2cos(θ2) +...