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Notebook[{

Cell[CellGroupData[{
Cell["Analysis of a Planar 4R Linkage", "Subtitle"],

Cell[CellGroupData[{

Cell["Input Linkage Data ", "Subsection"],

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Cell[BoxData[
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Cell[BoxData[
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Cell[BoxData[
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Cell[CellGroupData[{

Cell[BoxData[
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Cell[BoxData[
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Cell[CellGroupData[{

Cell[BoxData[
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Cell[BoxData[
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}, Open  ]],

Cell[CellGroupData[{

Cell[BoxData[
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Cell[BoxData[
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Cell[CellGroupData[{

Cell["Compute link lengths OA, AB, OC, and CB", "Section"],

Cell[BoxData[
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Cell[CellGroupData[{

Cell[BoxData[
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Cell[BoxData[
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Cell[CellGroupData[{

Cell[BoxData[
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Cell[BoxData[
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}, Open  ]],

Cell[CellGroupData[{

Cell[BoxData[
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Cell[BoxData[
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}, Open  ]],

Cell[CellGroupData[{

Cell[BoxData[
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Cell[BoxData[
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}, Open  ]],

Cell[CellGroupData[{

Cell["Compute the angles for the given configuration", "Section"],

Cell[BoxData[
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Cell[BoxData[
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Cell[CellGroupData[{

Cell[BoxData[
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Cell[BoxData[
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}, Open  ]],

Cell[CellGroupData[{

Cell[BoxData[
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Cell[BoxData[
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}, Open  ]],

Cell[CellGroupData[{

Cell[BoxData[
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Cell[BoxData[
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Cell[CellGroupData[{

Cell[BoxData[
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Cell[BoxData[
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Cell[CellGroupData[{

Cell["Calculate the output angle Psi", "Section"],

Cell[CellGroupData[{

Cell["The constraint equation", "Subsection"],

Cell[BoxData[
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Cell[CellGroupData[{

Cell[BoxData[
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Cell[CellGroupData[{

Cell[BoxData[
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Cell[CellGroupData[{

Cell["Determine the positive configurations", "Subsection"],

Cell[CellGroupData[{

Cell[BoxData[
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Cell[BoxData[
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Cell[CellGroupData[{

Cell[BoxData[
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Cell[BoxData[
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Cell[CellGroupData[{

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Cell[CellGroupData[{

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Cell[BoxData[
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