Example 3.1 Y Y2 X Crank-slider mechanism is shown in the figure. The length of the crank is 1,and the length of the connecting link is l,the crank is driven by=-t Write the constraint equations1 X1 Y1 X2 Y2 2 X Y Example 3.1 Crank-slider mechanism is shown in the figure. The length of the crank is 1, and the length of the connecting link is l, the crank is driven by Write the constraint equations t D   1 