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A four-bar linkage system is shown above. The first link, a, is an input link (crank) of length 1. The second link, b, is a coupler link of length 2. The third link, c, is an output link of length 4. The forth link, d, is the fixed link (ground) of length 5. All lengths are provided in metres. The angular position of the output link (04) of a four-bar linkage corresponding
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