$\backslash$#$1$ Draw an appropriate vector loop.

$\backslash (\backslash$checkmark $\backslash )$ Write out the vector$-$loop equation$($s$).$

$\backslash (\backslash$checkmark $\backslash )$ Write the $\backslash ($ X $\backslash )$ and $\backslash ($ Y $\backslash )$ components of the vector$-$loop equation$($s$).$

$\backslash (\backslash$checkmark $\backslash )$ Write down all the geometric constraints.

$\backslash (\backslash$checkmark $\backslash )$ Write down all rolling contact equations.

$\backslash (\backslash$checkmark $\backslash )$ Summarize the scalar knowns and unknowns.

$\backslash (\backslash$checkmark $\backslash )$ Form the above, deduce the number of Degrees of Freedom $($DOF$).$

$\backslash (\backslash$checkmark $\backslash )$ Check your DOF result using Gruebler's Criterion.

Planar Mechanism