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Notebook[{

Cell[CellGroupData[{
Cell["Coupler Curve for a Planar 4R Chain", "Subtitle"],

Cell[BoxData[
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Cell[BoxData[
    \(<< Graphics`Animation`\)], "Input"],

Cell[CellGroupData[{

Cell["Functions for transformations", "Section"],

Cell[BoxData[
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Cell[CellGroupData[{

Cell[BoxData[
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Cell[BoxData[
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      "Possible spelling error: new symbol name \"\!\(Disp\)\" is similar to \
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}, Open  ]],

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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      "Possible spelling error: new symbol name \"\!\(Ydisp\)\" is similar to \
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Cell[CellGroupData[{

Cell["Test", "Subsubsection"],

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

Cell["Kinematics Equations for RR chain", "Section"],

Cell[BoxData[
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Cell[BoxData[
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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["Input Linkage Data ", "Section"],

Cell[CellGroupData[{

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

Cell["The Constraint Equation", "Section"],

Cell[BoxData[
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Cell[CellGroupData[{

Cell[BoxData[
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Cell[CellGroupData[{

Cell[BoxData[
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Cell[BoxData[
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      "Possible spelling error: new symbol name \"\!\(Ccoef\)\" is similar to \
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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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Cell[CellGroupData[{

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

Cell["Input Angle", "Subsection"],

Cell[CellGroupData[{

Cell[BoxData[
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Cell["The Output Angle", "Subsection"],

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Cell[CellGroupData[{

Cell["Determine Coupler Curve", "Section"],

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Cell[CellGroupData[{

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