An example of uniform motion along a generalized coordinate using the Draghilev method. (This post was inspired by school example in one of the forums.)
The equations used in the program are very simple and, I think, do not require any special comments. DM is a procedure that implements the Draghilev method with "partial parameterization".

When K = 1, parameterization is carried out by changing the angle of rotation of the wheel. That is, uniform rolling is carried out.

For K = 4, the coordinate corresponding to the position of the slider is parametrized.


When K = 6, the slider moves with acceleration, according to a given equation. Hence, we have carried out the parameterization with respect to “time”.

With the help of such techniques, we can obtain the calculation of the kinematics of both lever mechanisms and various types of manipulators.

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