Solution Kinematic driver X DD = =0 o Length 27 Mass m Kinematic constraint equations ,y2 g 月 Length 21 X2 Mass m                   0 0 sin cos 0 cos sin 1 1 1 1 1 1 l y x     Kinematic driver Kinematic constraint equations x1 y1 C1 x y 1 g x2 y2 C2 2 Length 2l Mass m Length 2l Mass m                              sin cos 0 cos sin sin cos 0 cos sin 2 2 2 2 2 2 1 1 1 1 1 1 l y l x y x         0 15 2 3 15 5 2 1 1                 t t D        Solution: