Link 1 turns about fixed axis 0 and is connected by sliding pairs to sliders 3 and 2. Slider 4 moves along fixed guides t-t whose axis makes the angle a with axis 0x. Slider 4 is connected by turning pairs B and C to slider 3 and to link 5. Link 5 moves in X-shaped slider 2 whose guides make the angle 90°-β with each other, where β is the angle between radius 0͞F=r of circle p and axis 0x. When link 1 turns about axis 0, point D of slider 2 describes the companion s-s of the cissoid of circle p, passing through point 0, and of straight line q-q. The equation of the companion s-s of the cissoid is ρD=0͞D=b*(sin(α)/sin(α- ϕ))+2r*cos(β- ϕ) where ϕ ist he polar angle between vector ρD and polar axis 0x.
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