Flexible link 1 runs over pulleys 2 and 5, of equal diameter, and oscillates about fixed axis A. Link 3 is connected by turning pairs C and D to pulleys 2 and 5. Link 4 turns about fixed axis B and is connected by turning pair D to link 3. When flexible link 1 turns about axis A, link 3 has a complex motion and link 4 oscillates about axis B.
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