Constraint equations x-Icos y-Isin Φ= x2-1cos-x-1cos =0 y2-Isin-y-Isin 4-5π/3-t/15 42-4-2t/15 Acceleration equation Φ,i=Y 「101sin00 0 -1cos,,2 01-1cos4100 -Isin2 -1 0 Isin 1 0 Isin2 -1cos,2-1c0sp222 Da= Y= 0-1-1cos4,01-1cosφ2 -Isin2-Isin 0 0 00 0 -1 00 0 0 2 /15 5 / 3 /15 sin sin cos cos sin cos 2 1 1 2 2 1 1 2 2 1 1 1 1 1 1 t t y l y l x l x l y l x l Constraint equations Acceleration equation q q 0 0 1 0 0 1 0 0 1 0 0 0 0 1 cos 0 1 cos 1 0 sin 1 0 sin 0 1 cos 0 0 0 1 0 sin 0 0 0 1 2 1 2 1 1 l l l l l l q 0 0 sin sin cos cos sin cos 2 2 2 2 1 1 2 2 2 2 1 1 2 1 1 2 1 1 l l l l l l