For alpha1, a1 = 30 degrees,

Input, θ (°) = 30°, Output φ (°) =40°.

Tan θ = Tan 30 °

= 0.5774

Tan φ = Tan 40°

= 0.8391

𝑑𝜙 𝑐𝑜𝑠 𝛼
Theoretical Output Velocity = 𝜔𝑑𝑡 = 1− 𝑠𝑖𝑛2 𝛼 . 𝑐𝑜𝑠2 𝜃

𝑐𝑜𝑠 30˚
= 1− 𝑠𝑖𝑛2 30˚ . 𝑐𝑜𝑠2 30˚

= 1.0659 mm/s

𝜑𝑖+1 −𝜑𝑖 70˚−40˚

Experimental Output Velocity = = 60˚−30˚
𝜃𝑖+1 −𝜃𝑖

= 1.0000 mm/s

𝑉𝑇ℎ𝑒𝑜𝑟𝑒𝑡𝑖𝑐𝑎𝑙 − 𝑉𝑒𝑥𝑝𝑒𝑟𝑖𝑚𝑒𝑛𝑡
Percentage Error = | | 𝑥100%
𝑉𝑇ℎ𝑒𝑜𝑟𝑒𝑡𝑖𝑐𝑎𝑙

𝑚𝑚 𝑚𝑚
1.0659 −1.0000
𝑠 𝑠
=| 𝑚𝑚 | 𝑥100%
1.0659
𝑠

= 6.1826 %

Tan φ = Tan θ Cos α