In my kinematic analysis I will calculate the penguin body position, velocity and acceleration. Additionally, I will calculate the wing angle, velocity of the wing tip, and acceleration of the wing tip. In my analysis I assume that the input angular velocity (win) is a constant 6 rad/s. After characterizing the radius as a function of input angle, I found the position of the base of the penguin head. This was simply calculated by adding the length of the follower(connecting the base of the head to the cam) to the radius at each angle. After calculating the position, I moved onto the penguin body velocity (Vbody). This was simple, as velocity is a derivative of position. After finding the velocity of the body, I calculated the body acceleration (Abody) by taking the derivative of the velocity. Thus, to find Vbody and Abody I used the following equation:
Vbody=(dr/dΘ)*win
Abody=(dVbody/dΘ)*win
After calculating the position, velocity and acceleration for the penguin body, I moved onto analyzing the penguin wing.