Model the motion of a simple slider-crank mechanism subject to an external force.
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The state of the slider-crank mechanism can be described completely by two angles _{1}, _{2} and the distance of the slider from origin.
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Define the force that is exerted on the slider.
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The equations of motion are derived by resolving the forces and applying Newton's law and . The crank and connecting rod have mass and therefore inertia.
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The algebraic equations define the geometry of the system.
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Define the physical parameters for the system. Here and are the moment of inertia.