Notes_03_02 1 of 15

Complex Numbers for Planar Kinematics

Standard XY Notation Complex Number Notation
Imaginary
Y (Vertical)

b r b r
 

a X a Real (Horizontal)

j
R  aî  bĵ  r R a jbr e
j
r 2  a 2  b2 e  cos   j sin 
tan   b / a j  1

j
Expanding: R  re  r cos   j r sin  a  r cos  b  r sin 
j
r  magnitude , e  direction

j
Position: R  re

  re j j d   d   
2
Velocity: R  j r  e   
dt dt 2
Extension Tangential

  r e j
Acceleration: R  j r  e
j
 r  2 e
j
 j 2 r  e
j
Extension Tangential Normal Coriolis

Jerk:   ( r  3r  2  3r  )e j

R  (r  3r   3r   r  3 ) j e
j

Snap:
 j j
R  ( r  6r  2  12r    4r    3r  2  r  4 )e  (r  4r  6r  2  6r   4r   4r  3 ) j e
Note:
1. is always measured CCW from positive real axis.  ,  and  are positive CCW.
j j j
2. j e  e (Try it using R  a  j b  r e )

Matrix Solution: [A]{x} = {B} {x}=[A]-1 {B}

a a 12  1  a 22  a 12 
[A]   11  [A]1  det[ A]  a 11 a 22  a 12 a 21
a 21 a 22  det[ A]  a 21 a 11 
 Notes_03_02 2 of 15

Complex Number Analysis of Four Bar

Given: constants r1 r2 r3 r4  and variable 

Find: 3 and 4
r R

 r R
r
R
  R

Loop Equation: R 2  R 3  R 4  R1  0
j 2 j 3 j 4 j1
Position: r2 e  r3 e  r4 e  r1e 0
Real Components: r2 cos  2  r3 cos 3  r4 cos  4  r1 cos 1  0
Imaginary Components: j r2 sin  2  j r3 sin 3  j r4 sin  4  j r1 sin 1  0
Use Newton-Raphson iterative solution for position.

Given: Position solution and  2 and r1  r2  r3  r4   1  0

Find:  and 
3 4

j j j
Velocity: j r2  2 e 2  j r3  3 e 3  j r4  4 e 4  0
Real Components:  r2  2 sin  2  r3  3 sin  3  r4  4 sin  4  0
Imaginary Components: j r  cos   j r  cos   j r  cos   0
2 2 2 3 3 3 4 4 4

r3 sin  3 r4 sin  4   3   r2  2 sin  2 

 r cos    
 r4 cos  4   4   r2  2 cos  2 
Matrix Notation:
 3 3

detJ  r3r4 sin 3 cos 4  cos 3 sin 4   r3r4 sin 3  4   r3r4 sin 
 3  r2 2 sin 2  4  / r3 sin 3  4   4  r2 2 sin 2  3  / r4 sin 3  4 

Given: Position and velocity solutions and  2

Find:  and 
3 4
Acceleration:
j j j j j j
j r2  2 e 2  r2  22 e 2  j r3 3 e 3  r3  32 e 3  j r4  4 e 4  r4  24 e 4  0
Real:  r2  2 sin  2  r2  22 cos  2 r3 3 sin  3  r3  32 cos  3 r4  4 sin  4  r4  24 cos  4  0
Imaginary: j r2  2 cos  2  j r2  22 sin  2  j r3 3 cos  3  j r3  32 sin  3  j r4  4 cos  4  j r4  24 sin  4  0
r3 sin 3 r4 sin  4  3   r2 2 sin  2  r2  22 cos  2  r3  32 cos 3  r4  24 cos  4 
Matrix:      
 r3 cos 3  r4 cos  4   4   r2 2 cos  2  r2  2 sin  2  r3  3 sin 3  r4  4 sin  4 
2 2 2

   r  sin      r  2 cos     r  2 cos     r  2 / r sin    

3 2 2 2 4 2 2 2 4 3 3 3 4 4 4 3 3 4
   r  sin      r  2 cos     r  2  r  2 cos   / r sin    
4 2 2 2 3 2 2 2 3 3 3 4 4 3 4 4 3 4
 Notes_03_02 3 of 15

Given: Position, velocity and acceleration solutions and 2

Find:  and 
3 4

Jerk:
j j j j
j (r22  r2  32 )e 2  3r2  2  2 e 2  j (r33  r3  33 )e 3  3r3  3 3 e 3
j j
 j (r44  r4  34 )e 4  3r4  4  4 e 4  0
Real Components:
 (r22  r2  32 ) sin  2  3r2  2  2 cos  2 (r33  r3  33 ) sin 3  3r3  33 cos 3
(r   r  3 ) sin   3r   cos   0
4 4 4 4 4 4 4 4 4
Imaginary Components:
j (r22  r2  32 ) cos  2  j 3r2  2  2 sin  2  j (r33  r3  33 ) cos 3  j 3r3  33 sin 3
 j (r44  r4  34 ) cos  4  j 3r4  4  4 sin  4  0
Matrix Notation:
r3 sin  3 r4 sin  4  3 
 r cos   
 3 3  r4 cos  4  4 
 (r22  r2  32 ) sin  2  3r2  2  2 cos  2  r3  33 sin  3  3r3  3 3 cos  3  r4  34 sin  4  3r4  4  4 cos  4 
  3   3   3   
 (r2 2  r2  2 ) cos  2  3r2  2  2 sin  2  r3  3 cos  3  3r3  3  3 sin  3  r4  4 cos  4  3r4  4  4 sin  4 
Given: Position, velocity, acceleration and jerk solutions and  2

Find:  and 

3 4

Snap:
j j
 j r2 (2  6 22 2 )e 2  r2 (4 22  322   42 )e 2
j j
 j r3 (3  6 323 )e 3  r3 (4 33  332   34 )e 3
j j
 j r4 (4  6 244 )e 4  r4 (4 44  324   44 )e 4  0
Real Components:
 r2 (2  6 22 2 ) sin 2  r2 (4 22  322   42 ) cos 2
 r (  6 2 ) sin   r (4   32   4 ) cos 
3 3 3 3 3 3 3 3 3 3 3

 r4 (4  6 244 ) sin 4  r4 (4 44  324   44 ) cos 4  0

Imaginary Components:
 j r (  6 2  ) cos   j r (4   32   4 ) sin 
2 2 2 2 2 2 2 2 2 2 2

 j r3 (3  6 323 ) cos 3  j r3 (4 33  332   34 ) sin 3

 j r4 (4  6 244 ) cos 4  j r4 (4 44  324   44 ) sin 4  0
 Notes_03_02 4 of 15

Matrix Notation:
 r (  6 2  ) sin   r (4   3 2   4 ) cos  
 2 2 2 2 2 2 2 2 2 2 2

 6r3  3  3 sin  3  r3 (4 33  3 3   3 ) cos  3
2 2 4

  2  sin   r (4   3 2   4 ) cos  
r3 sin  3  
r4 sin  4   3  
     6 r4  4 4 4 4 4 4 4 4 4 
 r cos      
 3  r4 cos  4  4  
 r (  6 2  2 ) cos  2  r2 (4 22  3 2   2 ) sin  2 

3 2 2 4
 2 2 
 6r3  32  3 cos  3  r3 (4 33  3 32   34 ) sin  3 
 
 6r4  24  4 cos  4  r4 (4 44  3 24   44 ) sin  4 
 Notes_03_02 5 of 15

Complex Number Analysis of In-Line and Offset Slider Crank

Given: constants r2 r3 r4  =+90°) and variable 

Find: 3 and r1

r R
r R

r R
 R

Loop Equation: R 2  R 3  R 4  R1  0
j 2 j 3 j 4 j1
Position: r2 e  r3 e  r4 e  r1e 0
Real Components: r2 cos  2  r3 cos 3  r4 cos  4  r1 cos 1  0
Imaginary Components: j r2 sin  2  j r3 sin 3  j r4 sin  4  j r1 sin 1  0
Use Newton-Raphson iterative solution for position.

Given: Position solution and  2 and r2  r3  r4   1   4  0

Find:  and r
3 1

j j j
Velocity: j r2  2 e 2  j r3  3 e 3  r1 e 1  0
Real Components:  r2  2 sin  2  r3  3 sin  3  r1 cos 1  0
Imaginary Components: j r2  2 cos  2  j r3  3 cos  3  j r1 sin 1  0
r3 sin  3  cos 1   3   r2  2 sin  2 
 r cos    
 sin 1   r1   r2  2 cos  2 
Matrix Notation:
 3 3

detJ  r3 sin 3 sin i  cos 3 cos 1   r3 cos3  1 

 3  r2 2 cos2  1  / r3 cos3  1  r1  r2 2 sin 2  3  / cos3  1 

Given: Position and velocity solutions and  2

Find:  and r
3 1
Acceleration:
j j j j j
j r2  2 e 2  r2  22 e 2  j r3  3 e 3  r3  32 e 3  r1 e 1  0
Real:  r2  2 sin  2  r2  22 cos  2 r3 3 sin  3  r3  32 cos  3 r1 cos 1  0
Imaginary: j r2  2 cos  2  j r2  22 sin  2  j r3 3 cos  3  j r3  32 sin  3  j r1 sin 1  0
Matrix Notation:
r3 sin 3  cos 1  3   r2  2 sin  2  r2  22 cos  2  r3  32 cos 3 
 r cos         
    r1   r2  2 cos  2  r2  2 sin  2  r3  3 sin 3 
2 2
 3 3 sin 1
   r  cos     r  2 sin      r  2 sin    / r cos   
3 2 2 2 1 2 2 2 1 3 3 3 1 3 3 1

r1  r22 sin 3  2   r22 cos3  2   r33 / cos3  1 

  2  2
 Notes_03_02 6 of 15

Given: Position and velocity solutions and 2

Find:  and r
3 1
Jerk:
j j j j j
j (r22  r2 32 )e 2  3r2 22e 2  j (r33  r3 33 )e 3  3r3 33e 3  r1 e 1  0
Real Components:
 (r22  r2 32 ) sin 2  3r2 22 cos 2 (r33  r3 33 ) sin 3  3r3 33 cos 3  r1 cos 1  0
Imaginary Components:
j (r22  r2 32 ) cos 2  j 3r2 22 sin 2  j (r33  r3 33 ) cos 3  j 3r3 33 sin 3  j r1 sin 1  0
Matrix Notation:
r3 sin 3  cos 1  3   (r22  r2 32 ) sin 2  3r2 22 cos 2  r3 33 sin 3  3r3 33 cos 3 
 r cos    
 3 3  sin 1   r1   (r22  r2 32 ) cos 2  3r2 22 sin 2  r3 33 cos 3  3r3 33 sin 3 

Given: Position and velocity solutions and 2

Find:  and r
3 1
Snap:
j j
 j (r22  6r2  22  2 )e 2  (4r22  2  3r2  22  r2  42 )e 2
 j j j
 j (r33  6r3  32  3 )e 3  (4r33  3  3r3 32  r3  34 )e 3  r1 e 1  0
Real Components:
 (r22  6r2  22  2 ) sin  2  (4r22  2  3r2  22  r2  42 ) cos  2
 j
 (r33  6r3  32  3 ) sin  3  (4r33  3  3r3 32  r3  34 ) cos  3  r1 e 1 cos 1  0
Imaginary Components:
 j (r   6r  2  ) cos   j (4r    3r  2  r  4 ) sin 
2 2 2 2 2 2 2 2 2 2 2 2 2 2

 j
 j (r33  6r3  32  3 ) cos  3  j (4r33  3  3r3 32  r3  34 ) sin  3  j r1 e 1 sin 1  0
Matrix Notation:
 (r   6r  2  ) sin   (4r    3r  2  r  4 ) cos  
 2 2 2 2 2 2 2 2 2 2 2 2 2 2

  6 r 
 2 
 sin   ( 4 r 
 
  3 r 
 2
 r 
 4
) cos  
r3 sin  3  cos 1  3   3 3 3 3 3 3 3 3 3 3 3 3

 r cos     
 3  sin 1   r1  
 (r   6r2  2  2 ) cos  2  (4r2 2  2  3r2  2  r2  2 ) sin  2 

   2     
3 2 4
 2 2 
 6r3  32  3 cos  3  (4r33  3  3r3 32  r3  34 ) sin  3 
 Notes_03_02 7 of 15

Complex Number Analysis of Inverted Slider Crank

Given: constants r1 r2 and variable 

Find: r4 and 4

r  R
r R
  R
r 
Loop Equation: R 2  R 4  R1  0
j j j
Position: r2 e 2  r4 e 4  r1e 1  0
Real Components: r2 cos 2  r4 cos 4  r1 cos 1  0
Imaginary Components: j r2 sin 2  j r4 sin 4  j r1 sin 1  0
Use Newton-Raphson iterative solution for position.

Given: Position solution and  2 and r1  r2   1  0

Find: r4 and  4
j j j
Velocity: j r2  2 e 2  r4 e 4  j r4  4 e 4  0
Real Components:  r2  2 sin  2  r4 cos  4  r4  4 sin  4  0
Imaginary Components: j r2  2 cos  2  j r4 sin  4  j r4  4 cos  4  0
 cos  4 r4 sin  4   r4   r2  2 sin  2 
Matrix Notation:   sin   r cos        
 4 4 4  4   r2  2 cos  2 

detJ  r4 cos2 4  sin 2 4  r4 
r4  r2 2 sin 2  4   4  r2 2 cos2  4  / r4

Given: Position and velocity solutions and  2

Find: r4 and  4
Acceleration:
j j j j j j
j r2  2 e 2  r2  22 e 2  r4 e 4  j r4  4 e 4  r4  24 e 4  j 2 r4  4 e 4  0
Real Components:
 r2  2 sin  2  r2  22 cos  2 r4 cos  4 r4  4 sin  4  r4  24 cos  4  2r4  4 sin  4  0
Imaginary Components:
j r2 2 cos  2  j r2  22 sin  2  j r4 sin  4  j r4  4 cos  4  j r4  24 sin  4  j 2r4  4 cos  4  0
Matrix Notation:
 cos 4 r4 sin 4  r4   r22 sin 2  r2 22 cos 2  r4 24 cos 4  2r4 4 sin 4 
  sin   r cos        2 2  
 4 4 4  4   r22 cos 2  r22 sin 2  r44 sin 4  2r44 cos 4 
r4  r2 2 sin  2   4   r2  22 cos 2   4   r4  24
4 
  r  cos     r  2 sin      2r  / r
2 2 2 4 2 2 2 4 
4 4 4
 Notes_03_02 8 of 15

Given: Position, velocity and acceleration solutions and 2

Find: r and 
4 4
Jerk:
j j j j
j (r22  r2 32 )e 2  3r2 22e 2  (r4  3r4 24 )e 4  j (3r4 4  3r44 )e 4
j j
 j (r44  r4 34 )e 4  3r4 44e 4  0
Real Components:
 (r22  r2 32 ) sin 2  3r2 22 cos 2  (r4  3r4 24 ) cos 4  (3r4 4  3r44 ) sin 4
(r   r  3 ) sin   3r   cos   0
4 4 4 4 4 4 4 4 4
Imaginary Components:
j (r22  r2 32 ) cos 2  j 3r2 22 sin 2  j (r4  3r4 24 ) sin 4  j (3r4 4  3r44 ) cos 4
 j (r   r  3 ) cos   j 3r   sin   0
4 4 4 4 4 4 4 4 4
Matrix Notation:
 cos 4 r4 sin 4   r4 
  sin   r cos     
 4 4 4  4 

 (r22  r2 2 ) sin 2  3r2 22 cos 2  (3r4 4  3r44  r4 34 ) sin 4  3r4 44  3r4 24 cos 4 
3

 
 (r2 2  r22 ) cos 2  3r222 sin 2  (3r44  3r44  r44 ) cos 4  3r444  3r44 sin 4 
 3     3   2

Given: Position, velocity, acceleration and jerk solutions and 2

Find:  and 
3 4

Snap:
j 2 j
 r2 (4 22  322   42 )e  j r2 (2  6 222 )e 2
j j
 (r4  6r4 24  12r4 44 )e 4  j (4r4 4  6r44  4r44  4r4 34 )e 4
j j
 r4 (4 44  324   44 )e 4  j r4 (4  6 244 )e 4  0
Real Components:
 r (4   32   4 ) cos   r (  6 2 ) sin 
2 2 2 2 2 2 2 2 2 2 2

 (r4  6r   12r4 44 ) cos 4  (4r4 4  6r44  4r44  4r4 34 ) sin 4
2
4 4

 r (4   32   4 ) cos   r (  6 2 ) sin   0

4 4 4 4 4 4 4 4 4 4 4
Imaginary Components:
 j r2 (4 22  322   42 ) sin 2  j r2 (2  6 222 ) cos 2
 j (r4  6r4 24  12r4 44 ) sin 4  j (4r4 4  6r44  4r44  4r4 34 ) cos 4
 j r (4   32   4 ) sin   j r (  6 2 ) cos   0
4 4 4 4 4 4 4 4 4 4 4
 Notes_03_02 9 of 15

Matrix Notation:
 r (  6 2 ) sin   r (4   32   4 ) cos  
 2 2 2 2 2 2 2 2 2 2 2

 (4r4 4  6r44  4r44  4r4 34 ) sin 4  (6r4 24  12r4 44 ) cos 4 
  2 sin   r (4   32   4 ) cos  

r4 sin 4   r4     6 r  
 cos 4 4 4 4 4 4 4 4 4 4 4

  sin      
  r4 cos 4  4    
 r (  6 22 ) cos 2  r2 (4 22  32   2 ) sin 2
4 2 2 4
 2 2 
 (4r4 4  6r44  4r44  4r4 34 ) cos 4  (6r4 24  12r4 44 ) sin 4 
 
 6r4 244 cos 4  r4 (4 44  324   44 ) sin 4 
 Notes_03_02 10 of 15

Four bar r1=90, r2=30, r3=60, r4=45

180

160
link 3
link 4
140

120
Angle [deg]

100

80

60

40

20

0
-100 -80 -60 -40 -20 0 20 40 60 80 100
Theta 2 [deg]

Four bar r1=90, r2=30, r3=60, r4=45

8

4
Angular velocity [rad/sec]

-2

-4 link 3 complex numbers

link 4 complex numbers
-6 link 3 geometric
link 4 geometric
-8

-10
-100 -80 -60 -40 -20 0 20 40 60 80 100
Theta 2 [deg]
 Notes_03_02 11 of 15

Four bar r1=90, r2=30, r3=60, r4=45

150

link 3 complex numbers

link 4 complex numbers
100 link 3 geometric
Angular acceleration [rad/sec/sec]

link 4 geometric

50

-50

-100
-100 -80 -60 -40 -20 0 20 40 60 80 100
Theta 2 [deg]

Four bar r1=90, r2=30, r3=60, r4=45

4000

3000
link 3 complex numbers
link 4 complex numbers
link 3 geometric
Angular jerk [rad/sec/sec/sec]

2000
link 4 geometric

1000

-1000

-2000

-3000
-100 -80 -60 -40 -20 0 20 40 60 80 100
Theta 2 [deg]
 Notes_03_02 12 of 15

Four bar r1=90, r2=30, r3=60, r4=45

4000

link 3 complex numbers

3000
link 4 complex numbers
link 3 finite difference
Angular jerk [rad/sec/sec/sec]

2000 link 4 finite difference

1000

-1000

-2000

-3000
-100 -80 -60 -40 -20 0 20 40 60 80 100
Theta 2 [deg]
 Notes_03_02 13 of 15

% fourbar_kin.m - four bar kinematics

% geometric and complex number methods
% HJSIII, 04.03.15

% general constants
d2r = pi / 180;

% link lengths and coupler angle

r1 = 90;
r2 = 30;
r3 = 60;
r4 = 45;

% crank
w2 = -10; % [rad/sec]
a2 = 2; % [rad/sec/sec]
g2 = -0.5; % [rad/sec/sec/sec]

% theta 2 at toggle positions +/- 109 deg

th2max = acos( (r1*r1 + r2*r2 - (r3+r4)*(r3+r4)) /2 /r1 /r2 );
th2max_deg = fix( th2max / d2r ) - 3;
th2min_deg = -th2max_deg;

% reduced motion
th2min_deg = -90;
th2max_deg = 90;
%th2min_deg = -109;
%th2max_deg = 109;

% allocate empty array to hold values

keep_m = [];
keep_g = [];

% crank angle
for th2_deg = th2min_deg : 1 : th2max_deg,
%for th2_deg = 65 : 65,
th2 = th2_deg * d2r;

% geometric position equations

e = sqrt( r1*r1 + r2*r2 - 2*r1*r2*cos(th2) );
alpha = asin( r2 * sin(th2) / e );
gamma = acos( ( r3*r3 + r4*r4 - e*e ) /2 /r3 /r4 );
beta = asin( r3 * sin(gamma) / e );
th4 = pi - alpha - beta;
th3 = th4 - gamma;

% matrix velocity equations

JAC = [ -r3*sin(th3) r4*sin(th4) ;
r3*cos(th3) -r4*cos(th4) ];

vrhs = [ r2*w2*sin(th2) ;
-r2*w2*cos(th2) ];

vsol = inv(JAC) * vrhs;

w3 = vsol(1);
w4 = vsol(2);

% geometric velocity solutions

th2d = w2;
ed = r1*r2*th2d*sin(th2) / e;
ad = ( r2*th2d*cos(th2) - ed*sin(alpha) ) /e /cos(alpha);
gd = e*ed /r3 /r4 /sin(gamma);
bd = ( r3*gd*cos(gamma) - ed*sin(beta) ) /e / cos(beta);
th4d = -ad - bd;
th3d = th4d - gd;

% matrix acceleration equations

arhs = [ r2*a2*sin(th2)+r2*w2*w2*cos(th2)+r3*w3*w3*cos(th3)-r4*w4*w4*cos(th4) ;
-r2*a2*cos(th2)+r2*w2*w2*sin(th2)+r3*w3*w3*sin(th3)-r4*w4*w4*sin(th4) ];

asol = inv(JAC) * arhs;

a3 = asol(1);
a4 = asol(2);
 Notes_03_02 14 of 15

% geometric acceleration solutions

th2dd = a2;
edd = ( r1*r2*(th2d*th2d*cos(th2) + th2dd*sin(th2)) - ed*ed ) / e;
add = ( -r2*th2d*th2d*sin(th2) +r2*th2dd*cos(th2) - edd*sin(alpha) ...
-2*ed*ad*cos(alpha) + e*ad*ad*sin(alpha) ) /e /cos(alpha);
gdd = ( ed*ed +e*edd - r3*r4*gd*gd*cos(gamma) ) /r3 /r4 /sin(gamma);
bdd = ( -r3*gd*gd*sin(gamma) +r3*gdd*cos(gamma) -edd*sin(beta) ...
-2*ed*bd*cos(beta) +e*bd*bd*sin(beta) ) /e / cos(beta);
th4dd = -add - bdd;
th3dd = th4dd - gdd;

% matrix jerk equations

jrhs1 = (r2*g2-r2*w2*w2*w2)*sin(th2) +3*r2*w2*a2*cos(th2) ...
-r3*w3*w3*w3*sin(th3) +3*r3*w3*a3*cos(th3) ...
+r4*w4*w4*w4*sin(th4) -3*r4*w4*a4*cos(th4) ;

jrhs2 = -(r2*g2-r2*w2*w2*w2)*cos(th2) +3*r2*w2*a2*sin(th2) ...

+r3*w3*w3*w3*cos(th3) +3*r3*w3*a3*sin(th3) ...
-r4*w4*w4*w4*cos(th4) -3*r4*w4*a4*sin(th4) ;
jrhs = [ jrhs1 ; jrhs2 ];

jsol = inv(JAC) * jrhs;

g3 = jsol(1);
g4 = jsol(2);

% geometric jerk solutions

th2ddd = g2;
eddd = ( r1*r2*(3*th2d*th2dd*cos(th2) -th2d*th2d*th2d*sin(th2) + th2ddd*sin(th2)) ...
-3*ed*edd ) / e;
addd = ( -3*r2*th2d*th2dd*sin(th2) -r2*th2d*th2d*th2d*cos(th2) +r2*th2ddd*cos(th2) ...
+3*e*ad*add*sin(alpha) +e*ad*ad*ad*cos(alpha) ...
-3*edd*ad*cos(alpha) -3*ed*add*cos(alpha) +3*ed*ad*ad*sin(alpha) ...
-eddd*sin(alpha) ) /e /cos(alpha);
gddd = ( 3*ed*edd +e*eddd - r3*r4*(3*gd*gdd*cos(gamma) -gd*gd*gd*sin(gamma)) ) ...
/r3 /r4 /sin(gamma);
bddd = ( -3*r3*gd*gdd*sin(gamma) -r3*gd*gd*gd*cos(gamma) +r3*gddd*cos(gamma) ...
-eddd*sin(beta) -3*bd*edd*cos(beta) -3*ed*bdd*cos(beta) ...
+3*ed*bd*bd*sin(beta) +3*e*bd*bdd*sin(beta) +e*bd*bd*bd*cos(beta) ) ...
/e / cos(beta);
th4ddd = -addd - bddd;
th3ddd = th4ddd - gddd;

% save for plotting

keep_m = [ keep_m ; th2 th3 th4 w3 w4 a3 a4 g3 g4 ];
keep_g = [ keep_g ; th2 th3 th4 th3d th4d th3dd th4dd th3ddd th4ddd ];
end

% create plotting vectors

th2_deg = keep_m(:,1) / d2r;
th3_deg = keep_m(:,2) / d2r;
th4_deg = keep_m(:,3) / d2r;

w3 = keep_m(:,4);
w4 = keep_m(:,5);
a3 = keep_m(:,6);
a4 = keep_m(:,7);
g3 = keep_m(:,8);
g4 = keep_m(:,9);

th3d = keep_g(:,4);
th4d = keep_g(:,5);
th3dd = keep_g(:,6);
th4dd = keep_g(:,7);
th3ddd = keep_g(:,8);
th4ddd = keep_g(:,9);

figure( 1 )
clf
plot( th2_deg,th3_deg,'r', th2_deg,th4_deg,'g' )
xlabel( 'Theta 2 [deg]' )
ylabel( 'Angle [deg]' )
legend( 'link 3', 'link 4' )
 Notes_03_02 15 of 15

title( 'Four bar r1=90, r2=30, r3=60, r4=45' )

figure( 2 )
clf
plot( th2_deg,w3,'ro', th2_deg,w4,'go', th2_deg,th3d,'b', th2_deg,th4d,'k' )
xlabel( 'Theta 2 [deg]' )
ylabel( 'Angular velocity [rad/sec]' )
legend( 'link 3 complex numbers', 'link 4 complex numbers', ...
'link 3 geometric', 'link 4 geometric' )
title( 'Four bar r1=90, r2=30, r3=60, r4=45' )

figure( 3 )
clf
plot( th2_deg,a3,'ro', th2_deg,a4,'go', th2_deg,th3dd,'b', th2_deg,th4dd,'k' )
xlabel( 'Theta 2 [deg]' )
ylabel( 'Angular acceleration [rad/sec/sec]' )
legend( 'link 3 complex numbers', 'link 4 complex numbers', ...
'link 3 geometric', 'link 4 geometric' )
title( 'Four bar r1=90, r2=30, r3=60, r4=45' )

figure( 4 )
clf
plot( th2_deg,g3,'ro', th2_deg,g4,'go', th2_deg,th3ddd,'b', th2_deg,th4ddd,'k' )
xlabel( 'Theta 2 [deg]' )
ylabel( 'Angular jerk [rad/sec/sec/sec]' )
legend( 'link 3 complex numbers', 'link 4 complex numbers', ...
'link 3 geometric', 'link 4 geometric' )
title( 'Four bar r1=90, r2=30, r3=60, r4=45' )

% check by finite differences

figure( 5 )
clf
dt = ( 1 * d2r ) / w2;
g3_fd = [ NaN ; diff( a3 ) ] / dt;
g4_fd = [ NaN ; diff( a4 ) ] / dt;
plot( th2_deg,g3,'ro', th2_deg,g4,'go', th2_deg,g3_fd,'b', th2_deg,g4_fd,'k' )
xlabel( 'Theta 2 [deg]' )
ylabel( 'Angular jerk [rad/sec/sec/sec]' )
legend( 'link 3 complex numbers', 'link 4 complex numbers', ...
'link 3 finite difference', 'link 4 finite difference' )
title( 'Four bar r1=90, r2=30, r3=60, r4=45' )

% bottom of fourbar_kin.m