1. Draw the graph of links and change of basis diagram(s). 2. Give the vector form of the constraint equation(s) associated with the closure by a prismatic joint between 2 and 3. Develop the corresponding scalar equation(s). 3. Deduce whether the Oldham joint is homokinetic (speed ratio is 1) or not? 4. Calculate the angular velocity vector 2 in terms of y, a and their time-derivatives 5. Calculate V (M) and V (M) by differentiation of position vectors in terms of y, a and their time-derivatives (Use the Moving Basis Formula!) 6. What is the nature of the kinematic screw for motion 2/0? Conclusion. 7. Calculate the acceleration of M, with respect to the ground. 1 0 Y1,2 M1 18 a 2 @ N B Geometric data: AB = 1 xo + e Zo MN = 2a x2-by + c Z 3 Figure 2- Kinematic model of an Oldham joint X0,1,2,3