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Vector analysis of Loop 1 yields the following position, velocity, and acceleration equations. Note that we assume the length of b is changing in this vector loop.
Position Equations:
Velocity Equations:
Acceleration Equations:
The next image is of Loop 2:
Vector analysis of Loop 2 yields the following position, velocity, and acceleration equations. Note that l7 and l3 are both changing length.
Position Equations:
Velocity Equations:
Acceleration Equations:
