Freudenstein's equation for a four-bar linkage is: (a) (k_{1} cos phi+k_{2} cos theta+k_{3}-cos (theta-phi)=0) (b) (k_{1} cos
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Freudenstein's equation for a four-bar linkage is:
(a) \(k_{1} \cos \phi+k_{2} \cos \theta+k_{3}-\cos (\theta-\phi)=0\)
(b) \(k_{1} \cos \phi+k_{2} \cos \theta+k_{3}+\cos (\theta-\phi)=0\)
(c) \(k_{1} \cos \phi+k_{2} \cos \theta+k_{3}-\cos (\theta-\phi)=1\)
(d) \(k_{1} \cos \phi+k_{2} \cos \theta+k_{3}+\cos (\theta-\phi)=1\)
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