If a planar mechanism is made of nb rigid bodies,the number of planar Cartesian generalized coordinates is nc 3nb The vector of planar Cartesian generalized coordinates of the system: 9=la9.'…467] Holonomic kinematic constraint equation *(q,) Φ(q,t)=: =0 The constraint equations must imply the geometry of the jointIf a planar mechanism is made of nb rigid bodies, the number of planar Cartesian generalized coordinates is nc = 3nb   T T nb T T q  q1 q2  q Holonomic kinematic constraint equation The vector of planar Cartesian generalized coordinates of the system:  0        ( , ) ( , ) ( , ) 1 t t t k nh k k q q q     The constraint equations must imply the geometry of the joint