y=-(o,,ni-20,i-亚 Acceleration equation 0 0 0 1 0 0 0 0 0 0 0 西 0 1 0 -sin o -1 Icos2 2cos中，+lp2sinp2 0 c0s中 0 -1 Isin 2 sin12"cos 0 0 1 0 0 0 西2 =Y Sincesin and,witharcsinrsin Φ，≠0 The velocity and acceleration equations can be solvedAcceleration equation                       0 sin cos cos sin 0 0 0 0 0 1 0 0 0 0 1 cos 0 1 sin 1 0 sin 1 0 cos 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 2 2 1 2 2 1 2 2 1 2 2 1 2 2 2 1 1 1 1 2 1 2                          l l y x y x l l qq     t tt    q q  q q  q q   2  2 Since q  lsin and, with l l l 1 arcsin 2 1 arcsin 2 1,    2       0 q The velocity and acceleration equations can be solved