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For my kinematic analysis, I started out by using the diagram diagrams below to define my position vectors.

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From my position analysis, I found:

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From my velocity analysis:

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From my acceleration analysis:

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MATLAB Portion:

I used the following MATLAB code to calculate all the above values using a 0 to 360 degree input of theta 2. The position graph for the same point shown in the PMKS analysis has a slightly different shape, indicating the code did not match as well as the real life result.

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*Refer to Appendix for MATLAB Code