Design a $4-$bar mechanism which will do the

following crank angle coordination: assuming that ground

link is $10cm.$

Find the link dimensions then draw the

mechanism at the given ${}_2$ values and measure

corresponding ${}_4$ values to see if they fit the given data.

$(k_1*cos90)-(k_2*cos0)+k_3=cos(90-0)$ Position $1$

$(k_1*cos100)-(k_2*cos60)+k_3=cos(100-60)$ Position $2$

$(k_1*cos120)-(k_2*cos120)+k_3=cos(120-120)$ Position $3$

Solve symmultaneously to find $k_1,k_2,k_3$ Solution is unique

Then link dimensions $a_1,a_2,a_3,a_4$ are found by using the $k$ formulas.