Link 1 has T-slot guide a in which T-shaped end b of block 3 slides. Block 3 has cylindrical recess c into which round pin d of link 2 fits. With respect to each other, links 1 and 2 accomplish one turning motion about axis x-x and two translational motions along the perpendicular axes x-x and y-y.
$66$EM,MJ$