Solution: X Kinematic driver ΦD=p-3π/2-2t=0 Constraint equations 中 x-1cos Φ= y-lsinφ =0 g φ-3π/2-2t Xi Acceleration constraint equation Φ，i=y Length 27 101sinφ -Icosoo2 Mass m y=-Isin2 0Solution:  0            t y l x l      3 / 2 2 sin cos          0 0 1 0 1 cos 1 0 sin   l l  q         0 sin cos 2 2     l l    3 / 2  2 t  0 D Kinematic driver     Constraint equations Acceleration constraint equation  q   q  x1 y1 C x y  g Length 2l Mass m