OA ≔ 0.

2 m
AB ≔ 0.45 m
BC ≔ 0.45 m
OC ≔ 0.65 m
CD ≔ 0.7 m
DE ≔ 1.1 m
CO ≔ 0.65 m
EC ≔ 0.36 m

rad
ω1 ≔ 10 ――
s
ε1 ≔ 0

φ1 ≔ 100 °

φ2 ≔ 28 °

φ3 ≔ 125 °

φ4 ≔ 2 ⋅ π − 31 ° = 329 °

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⎛⎝OA ⋅ cos ⎛⎝φ1⎞⎠ + AB ⋅ cos ⎛⎝φ2⎞⎠ + BC ⋅ cos ⎛⎝φ3⎞⎠ + CO⎞⎠
―――――――――――――――― = −0.754 m
cos (π)

2 2
⎛⎝OA ⋅ cos ⎛⎝φ1⎞⎠ + AB ⋅ cos ⎛⎝φ2⎞⎠ − CO + BC ⋅ cos ⎛⎝φ3⎞⎠⎞⎠ = 0.298 m
2 2
⎛⎝OA ⋅ sin ⎛⎝φ1⎞⎠ + AB ⋅ sin ⎛⎝φ2⎞⎠ + BC ⋅ sin ⎛⎝φ3⎞⎠⎞⎠ = 0.603 m

2
A2 ≔ −2 ⋅ OA ⋅ AB ⋅ cos ⎛⎝φ1⎞⎠ + 2 ⋅ CO ⋅ AB = 0.616 m

2
B2 ≔ 2 ⋅ OA ⋅ AB ⋅ sin ⎛⎝φ1⎞⎠ = 0.177 m

2 2 2 2 2
C2 ≔ −BC + OA + BC + CO − 2 ⋅ CO ⋅ OA ⋅ cos ⎛⎝φ1⎞⎠ = 0.508 m

2
A3 ≔ −2 ⋅ OA ⋅ BC ⋅ cos ⎛⎝φ1⎞⎠ + 2 ⋅ CO ⋅ BC = 0.616 m

2
B3 ≔ 2 ⋅ OA ⋅ AB ⋅ sin ⎛⎝φ1⎞⎠ = 0.177 m

2 2 2 2 2
C3 ≔ −AB + OA + BC + CO − 2 ⋅ CO ⋅ OA ⋅ cos ⎛⎝φ1⎞⎠ = 0.508 m

OA ⋅ ω1 ⋅ sin ⎛⎝φ1⎞⎠ ⋅ AB ⋅ cos ⎛⎝φ2⎞⎠ − AB ⋅ OA ⋅ ω1 ⋅ cos ⎛⎝φ1⎞⎠ ⋅ sin ⎛⎝φ2⎞⎠ 1

ω3 ≔ ――――――――――――――――――― = −6.723 ―
AB ⋅ BC ⋅ cos ⎛⎝φ2⎞⎠ ⋅ sin ⎛⎝φ2⎞⎠ − BC ⋅ sin ⎛⎝φ2⎞⎠ m s

−BC ⋅ ω3 ⋅ cos ⎛⎝φ3⎞⎠ − OA ⋅ ω1 ⋅ cos ⎛⎝φ1⎞⎠ 1

ω2 ≔ ―――――――――――― = −3.493 ―
⎛
AB ⋅ cos ⎝φ2⎠⎞ s

φ3' ≔ φ3 − 180 ° = −55 °

S5 ≔ CD ⋅ cos ⎛⎝φ3'⎞⎠ + DE ⋅ cos ⎛⎝φ4⎞⎠ = 1.344 m

CD ⋅ ω3 ⋅ cos ⎛⎝φ3⎞⎠ m
V5 ≔ CD ⋅ ω3 ⋅ sin ⎛⎝φ3⎞⎠ − DE ⋅ ―――――― = −7.004 ―
DE ⋅ cos ⎛⎝φ4⎞⎠ s

CD ⋅ ω3 ⋅ cos ⎛⎝φ3⎞⎠ m
ω4 ≔ DE ⋅ ―――――― = 3.149 ―
DE ⋅ cos ⎛⎝φ4⎞⎠ s

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