Different types of mechanism in one worksheet

I’m trying to develop a robust approach for analyzing different configurations of a four-bar mechanism in Mathcad Prime. I’m looking to determine the corresponding angles for the crank, coupler, and rocker based on the mechanism dimensions and input configuration.

I’ve tried a few different approaches and, interestingly, I’m getting different results depending on how I formulate the equations. I’m not sure if I’m missing something fundamental in my approach or perhaps overcomplicating the worksheet.

I don’t work extensively with Mathcad Prime, so I may be overlooking a reference, function, or recommended approach that would make this easier. I’m also finding it a little difficult to identify the right reference/example for what I’m trying to achieve.

The ultimate goal is to build one generalized worksheet that can handle different types/configurations of four-bar mechanisms under the same set of equations, rather than creating a separate solution for each mechanism.

Any suggestions on the right approach, relevant Mathcad Prime examples, or things I should reconsider in my current methodology would be greatly appreciated. Attaching the worksheet