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where Va is BLUE, Vb is GREEN and Vc is the vector from A to BD.
Position Analysis
After using Euler's equation and splitting the equation into real and imaginary components, we get the following result:
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To find acceleration equations, I simply took the derivative of the velocity equations with respect to time. It is important to note here that, there are double derivatives due to Coriolis acceleration. Due to the complexity of the equations, I chose to only include the final solutions below.
I created a MATLAB program to plot all 6 functions, shown below.
Second Loop Analysis
The second loop is B-E-C-A-B. The vector summation is as follows:
where Vd is the vector from B to A, VP is the vector from C to E and Vr is the vector from E to B.
Position Analysis
After conducting position analysis, I got these results.
Velocity Analysis
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After conducting velocity analysis, I got these results.
I created a MATLAB program to plot the equations, shown below.