−𝐵 ± √𝐵 2 − 4𝐴𝐶

𝜃4 = 2arctan⁡( )
2𝐴

𝐴 = 𝑐𝑜𝑠𝜃2 − 𝐾1 − 𝐾2 𝑐𝑜𝑠𝜃2 + 𝐾3
𝐵 = −2𝑠𝑒𝑛𝜃2
𝐶 = 𝐾1 − (𝐾2 + 1)𝑐𝑜𝑠𝜃2 + 𝐾3

𝑑
𝐾1 =
𝑎
𝑑
𝐾2 =
𝑐
𝑎2 − 𝑏 2 + 𝑐 2 + 𝑑²
𝐾3 =
2𝑎𝑐

𝜋
𝜃2 = 𝑡 ( + 2𝑡)
5
−𝐸 ± √𝐸 2 − 4𝐷𝐹
𝜃3 = 2arctan⁡( )
2𝐷

𝑑
𝐾4 =
𝑏
𝑐 2 − 𝑑 2 − 𝑎2 − 𝑏²
𝐾5 =
2𝑎𝑏

𝐷 = 𝑐𝑜𝑠𝜃2 − 𝐾1 + 𝐾4 𝑐𝑜𝑠𝜃2 + 𝐾5
𝐸 = −2𝑠𝑒𝑛𝜃2
𝐹 = 𝐾1 − (𝐾4 − 1)𝑐𝑜𝑠𝜃2 + 𝐾5

𝑹𝑝 = 𝑹𝑂2 𝑂4 + 𝑹𝑎´ + 𝑹𝑏´/2

 𝑹𝑎´ = 𝑎´𝑒 𝑗𝜃2
𝑹𝑏´/2 = (𝑏´/2)𝑒 𝑗𝜃3

𝑑𝜃2
= 𝜔2
𝑑𝑡

𝑎𝜔2 (𝜃4 − 𝜃2 )
𝜔3 =
𝑏 (𝜃4 − 𝜃3 )
𝑎𝜔2 (𝜃2 − 𝜃3 )
𝜔4 =
𝑐 (𝜃4 − 𝜃3 )

𝑎´𝜔2´ (𝜃4´ − 𝜃2´ )

𝜔3´ =
𝑏´ (𝜃4´ − 𝜃3´ )

𝑽𝑃 = 𝑽𝑎´ + 𝑽𝑏´/2

𝑽𝑎´ = 𝑗𝑎´𝑒 𝑗𝜃2´ 𝜔2´

𝑽𝑏´/2 = 𝑗(𝑏´/2)𝑒 𝑗𝜃3´ 𝜔3´

𝑑𝜔2
= 𝛼2
𝑑𝑡
𝐶"𝐷" − 𝐴"𝐹"
𝛼3 =
𝐴"𝐸" − 𝐵"𝐷"

𝐴" = 𝑐𝑠𝑒𝑛𝜃4
𝐵" = 𝑏𝑠𝑒𝑛𝜃3
𝐶" = 𝑎𝛼2 𝑠𝑒𝑛𝜃2 + 𝑎𝜔2 ²𝑐𝑜𝑠𝜃2 + 𝑏𝜔3 ²𝑐𝑜𝑠𝜃3 − 𝑐𝜔4 ²𝑐𝑜𝑠𝜃4
𝐷" = 𝑐𝑐𝑜𝑠𝜃4
𝐸" = 𝑏𝑐𝑜𝑠𝜃3
𝐹" = 𝑎𝛼2 𝑐𝑜𝑠𝜃2 + 𝑎𝜔2 ²𝑠𝑒𝑛𝜃2 − 𝑏𝜔3 ²𝑠𝑒𝑛𝜃3 + 𝑐𝜔4 ²𝑠𝑒𝑛𝜃4

𝑨𝑃 = 𝐴𝑎´ + 𝐴𝑏´/2

𝐴𝑎´ = 𝑎´𝛼2 𝑗𝑒 𝑗𝜃2´ − 𝑎´𝜔2 ²𝑒 𝑗𝜃2´

𝐴𝑏´/2 = 𝑏´𝛼3 𝑗𝑒 𝑗𝜃3´ − 𝑏´𝜔3 ²𝑒 𝑗𝜃3´