We should draw the graph of joint B,piston D(with respect to time) this graph should also include velocity,acceleration of joints and piston which I calculated in the code part

i=[1 0 0];

j=[0 1 0];

k=[0 0 1];

L=150;

r=50;

theta=0;

beta=asin((150/50)*sin(theta));

theta1=0;

theta2=10*k;

for i=1:2

Vb=theta1*r;

Vb=+norm(Vb)*cos(theta).*i-norm(Vb)*sin(theta).*j

Omegabd=norm(Vb)*cos(theta)/(150*cos(beta));

Omegabd=Omegabd*k;

Vdb=norm(Omegabd)*L;

Vdb=-150*norm(Omegabd)*cos(beta).*i-150*norm(Omegabd)*sin(beta).*j

Vd=Vb+Vdb

Ab=(r*norm(theta2)+r*norm(theta1)^2);

Ab=-Ab*sin(theta).*i-Ab*cos(theta).*j

Abd=((-1)*(norm(Ab)*sin(theta)+150*norm(Omegabd)^2*sin(beta))/(150*cos(beta))).*k

Adbt=L*norm(Abd);

Adbt=L*norm(Abd)*cos(beta).*i+L*norm(Abd)*sin(beta).*j;

Adbn=L*norm(Omegabd)^2;

Adbn=L*norm(Omegabd)^2*sin(beta).*i-L*norm(Omegabd)^2*cos(beta).*j;

Adb=Adbt+Adbn

Ad=Ab+Adb

theta=theta+pi/36

end