1. The problem statement, all variables and given/known data I need to find a way to do a conversion between the angular motion of a motor to the angular motion of an oscilating bar that is connected to it through a sliding and rotating collar. This way, every time the motor completes a revolution, the bar swings back and forth with a amplitude of 30 degrees in 0,2s (2x30º = 60º). The problem is that I can't find an equation to compare both motions. The motor angular velocity is 10π rad*s-1 2. Relevant equations SHM equations (maybe?) 3. The attempt at a solution I've tried using Angular Simple Harmonic Motion, but I think that as I'm working with big angles, the error will be way too big. I also tried comparing the angles of both motions in a table (Motor Angle [0º,360º] x Bar Angle[-30º,30º]), and found an equation: θ(φ) = sin(φ)*π*sqrt(3)/9. The problem is that this equation works when you use φ = 0, 120, 180 and 240, but it does not appear to work when angles between those are used. I think that happens because the relation is not linear due to acceleration.