Mechanics of machine force analysis with analytical method

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Pipsqueakalchemist
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So I was looking at this example problem in my textbook and I don’t understand how they got -168.1 degrees. The part I’m confused with is the first part of the 2nd picture, there’s a coma in the inverse tan, I don’t know what that means.

Textbook page showing Example 9.2, force balancing of a four-bar mechanism, with a diagram of the linkage and a polar plot of the shaking force, plus printed equations for the balance masses.


Textbook page 401, Example 9.2 Continued, showing equations for a four-bar mechanism balance mass, followed by a labelled force-balanced mechanism diagram with angles 177.6 degrees and -168.1 degrees, masses 880 gr and 478 gr, and a polar plot of the shaking force.
 
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  • Textbook page showing Example 9.2, force balancing of a four-bar mechanism, with a mechanism diagram (a) and a polar plot of shaking force (b) on a dial marked in newtons and degrees.
    image.jpg
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  • Textbook page showing Example 9.2 Continued with equations for the balance mass of link 4 and a labelled force-balanced four-bar mechanism diagram in Figure 9.17, with angles 177.6° and -168.1° and masses 880 gr and 478 gr.
    image.jpg
    39.5 KB · Views: 196
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