All pertinent rigid dimensions are specified for the linkage shown. Note that the ground pivot

for the input link is at the origin of the coordinate system. The input angle fin is currently 170⁰

measured from the x axis as shown. The figure is not exactly to scale, but it is reasonably close

for checking purposes.

(a) Calculate the value of the angle flout as shown on the figure. Use the equations developed

from the loop closure method. Note that you will need to incorporate a change of coordinate

axes orientation to the axes defined for the loop closure equations.

(b) Calculate the absolute location of point P with respect to the coordinate axes shown.

18"

30°

9"

P

9"

20"

Pout

14"

50°

o

in

= 170°

X