...
To perform the analysis we used two separate vector loops to solve for all of the unknown variables. Loop one contains the points O2, A, B, and O1. Vector loop two contains the points C, D, E, O3, and O1. Using these two vector loops, shown in figures 3.2 and 3.3, we were able to solve for all the unknowns for position, velocity, and acceleration. We performed hand calculations to set up our two equations and two unknowns in each case. From there we turned to MATLAB to symbolically solve those equations for our desired unknowns. Then we turned those symbolic equations into MATLAB functions we could call in our simulation. After that we created our point position vectors for A, B, C, D, and E with O2 being at the origin. By taking the time derivatives of the position vectors we also calculated the magnitude of velocity and acceleration over time for each point. Then to end our hand calculations we grouped together the terms for the present coriolis acceleration.
Figure 3.2. Vector Loop 1
...