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Basic Geometry Question

  1. Mar 25, 2012 #1
    http://www.flickr.com/photos/66943862@N06/6868453382/in/photostream/lightbox/ [Broken]

    I was looking at a robotics kinematics analysis & there is one geometric equation assumed in the analysis which I can't seem to understand. I have a simplified diagram above.

    In the above diagram
    AC = a1
    BC = a2
    AB = x1
    AX = x2

    CX is perpendicular to AB

    From here, how does one get to
    x2 = (a1^2 - a2^2 + x1^2)/(2 * x1)
    Last edited by a moderator: May 5, 2017
  2. jcsd
  3. Mar 25, 2012 #2
    Don't bother. I was able to get it using the law of cosines.
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