1. The problem statement, all variables and given/known data x= cosθ1p3(cosθ23)+cosθ1(cosθ2p2-a)-sinθ1p1 y= sinθ1p3(cosθ23)+sinθ1(cosθ2p2-a)+cosθ1p1 z= sinθ23p3-sinθ2p3 2. Relevant equations cosθ23 = cos(θ2 +θ3) sinθ23 = sin(θ2 +θ3) Finding θ1,θ2,θ3. Solve in terms of x,y,z,p Pls help to solve this algebra equation by eliminating the variable. Thanks in advance for the helping..im doing my final year project and came across to this unsolvable problem..