1. The problem statement, all variables and given/known data 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) 3. The attempt at a solution Well first I wrote this down: r1 = r2cos(θ2) + r3cos(θ3) - r4cos(θ4) It didn't really get me anywhere so after some research I found Freudenstein's Eqn: K 1 cos θ 2 + K2 cos θ 5 + K 3 = cos ( θ 2 - θ 5 ) K1 = l1 / l4 K2 = l 1 / l 2 K3 = ( l 32 - l 12 - l 22 - l 2 4 ) / 2 l 2 l 4 Inputting the values I ended up with this: (30/36)cosθ2 + (30/12)cosθ5 - (91/96) = cos(θ2 - θ5) I have no idea how to solve this equation in terms of θ5 though! (once I find θ5 I'll just use θ5 = 360 - θ4 to get θ4) Am I doing this right at all? Any help would be soooooooo much appreciated!!! Let me know if you need any more info or if I posted wrong or anything! Thanks again!