Decision 18.1.14 of the collection (Reshebnik) Kepe
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18.1.14. Determine the number of degrees of freedom of the articulated four-link, the length of the links if OA = l1, l2, and AB = BC = l3.
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(DYNAMICS, Chapter 18 - The principle of D'Alembert, paragraph - 18.1: Communications and equations) of Reshebnik to the collection of short tasks on the theoretical mechanics Kep OE, JA Viba, OP Grapis, JA Svetinysh et al. Publishing Moscow / Graduate School / 1989, 2009, 2012.
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