A6.4 - In the planar mechanism illustrated below, there is non-slip rolling contact between the wheels. (A) Draw the position vector loop(s) for this mechanism. Write the corresponding vector equation(s).

(B) Assume the input is the arm angle. Identify and count the remaining unknowns. Identify any constraints and which unknowns they relate. Count the total number of unknowns and the total number of available equations. Mark your vector loop equation(s) in part (A) with the appropriate known/unknown notation above each term (eg v?) (X) Describe how to determine the rotation of link 3, AO3. Draw a sketch and write an equation to support your answer.