PositionAnalysis

Position Analysisof
ofaa44bar
barPRRP
PRRPLinkage
Linkage
UsingComplex
Using ComplexNumbers
Numbers

Im Q
P
l5 l3
2 5 l4
3
l2
s2 s4 4
 1 Re
O

Viewingthe
Viewing thepoint
point PPfrom
fromtwo
twodirections
directionsin
inthe
the
complexplane
complex plane

i i11 ii22  l eii33 s eii11  l eii44

ss22ee  l e
 l22e  l33e s44e  l44e

 

22 
11   ,, 44 
 11
22 22
 PositionAnalysis
Position Analysisof
ofaa44bar
barRRRR
RRRRLinkage
Linkage
UsingComplex
Using ComplexNumbers
Numbers

Im Q
P
l5 l3
2 5 l4
3
l2
s2 s4 4
 1 Re
O

Separatingthe
Separating thereal
real
cos1ll2sin
ss22cos sin1ll3cos
cos 3 cos1 ll4sin
ss4cos sin1
1 2 1 3 3 4 1 4 1

Andthe
And theimaginary
imaginaryparts
parts
sin1 ll2cos
ss22sin cos1ll3sin
sin 3 sin1ll4cos
ss4sin cos1
1 2 1 3 3 4 1 4 1

Wehave
We havetwo
twounknowns
unknowns and 3
ss44 and 3

Andtwo
And twoscalar
scalarequations
equationsto
tosolve
solvefor
forthem
them
 PositionAnalysis
Position Analysisof
ofaa44bar
barRRRR
RRRRLinkage
Linkage
UsingComplex
Using ComplexNumbers
Numbers

Im Q
P
l5 l3
2 5 l4
3
l2
s2 s4 4
 1 Re
O

Rearrangingterms
Rearranging terms

cos3 
l3l3cos cos1 ll4sin
ss4cos cos1 ll2sin
sin1 ss2cos sin1
3 4 1 4 1 2 1 2 1

sin3
ll3sin sin1ll4cos
ss4sin sin1ll2cos
cos1 ss2sin cos1
3 3 4 1 4 1 2 1 2 1

Squaringand
Squaring andadding
adding

22  s cos   l sin   s cos      l sin    2

2
l 3  s 4cos  1 l 4sin  1 s 2cos  1    l 2sin  1  
l
3 4 1 4 1 2 1 2 1

 
2
 s4 sin 1  l4 cos 1  s2 sin  1     l2 cos 1   
  s4 sin 1  l4 cos 1  s2 sin 1     l2 cos 1   
   2
PositionAnalysis
Position Analysisof
ofaa44bar
barRRRR
RRRRLinkage
Linkage
UsingComplex
Using ComplexNumbers
Numbers

Im Q
P
l5 l3
2 5 l4
3
l2
s2 s4 4
 1 Re
O

Rearrangingand
Rearranging andsimplifying
simplifyingterms
terms

2  2 s s cos   l sin  
2
s
s4  2 s4 4s2 2cos   l2 2sin  
4

 2  s2  l2  l2  2 s l sin   2l l cos  0

2 2 2 2
 l
 l4 4  s2 2  l2 2  l3 3  2s2l24 4sin   2l2l24 4cos  0

Solving
Solving B  B
B  B  4C
2
2  4C
ss4 4
22
BB22ss2 2cos
cosl l2sin
2
sin
2 2 2 2
cos 22ssl2l4sin
CCl l42 ss22 l l22 l l23 22l ll2l4cos sin
4 2 2 3 2 4 2 4
PositionAnalysis
Position Analysisof
ofaa44bar
barRRRR
RRRRLinkage
Linkage
UsingComplex
Using ComplexNumbers
Numbers

Im Q
P
l5 l3
2 5 l4
3
l2
s2 s4 4
 1 Re
O

Weget
We get

sin3ss4cos
sin 3 4
cos1l l4sin
1 4
sin1 ss2cos
1 2
1 1l2l2sin
cos 1 1
sin
cos3ss4sin
cos 3 4
sin1l l4cos
1 4
cos1 ss2sin
1 2
1l l2cos
sin
1 2
cos1
1

Solving
Solving
 1 s4 cos 1  l4 sin 1  s2 cos 1     l2 sin 1   
 
   1 s4 cos 1  l4 sin 1  s2 cos 1     l2 sin 1    
tan
3 3tan  s sin   l cos   s sin      l cos    
s4 4sin 1 1 l4 4cos 1 1 s2 2sin 1 1    l2 2cos 1 1   

Thesigns
The signsof sin3 and
of sin cos3 will
andcos willlet
let us
us
3 3
determinethe
determine thequadrant
quadrant in which 3 lies
inwhich lies
3
PositionAnalysis
Position Analysisof
ofaa44bar
barRRRR
RRRRLinkage
Linkage
UsingComplex
Using ComplexNumbers
Numbers

Im Q
P
l5 l3
2 5 l4
3
l2
s2 s4 4
 1 Re
O

Nowlocate
Now locateQ!
Q!

ii11 ii22 ii5533

Q
Q ss22ee ll22ee ll55ee