Givens:
Link Lengths:
Link 2 (O
2
to A)
Link 3 (A to B)
Link 4 (B to O
4)
Link 1 (O
2
to O
4
)
Crank Motion:
Distance to CG in LRCS:
Link 2:
Link 3:
Link 4:
At an angle with respect to local x' axis of
Masses and Moments of Inertia about CG for each link: