%% Starter Code - Calculate mechanism motion and plot it
close all; % closes all figures
clear all; % clears all variables from memory
clc;    % clears all calculations from the Matlab workspace

% Plot Parameters: these will be used to set the axis limits on the figure
xmin= -.04; % leftmost window edge
xmax= .04; % rightmost window edge
ymin= -.03; % bottom window edge
ymax= .09; % top window edge

% Link Parameters
theta2_steps = 50; % number of theta2 configuration steps to calculate along mechanism rotation
max_rotation_theta2 = 360 *pi/180; % rotation limit of theta2, radians
theta2 = linspace(0,max_rotation_theta2,theta2_steps); % link 2 rotation into 'increments' number of angles
R = 0.02;       % link #2 length R, m
L = 0.05;       % link 3 length L, m
a = 0.015;       % offset, m

% set up figure
figure(1);                      %create new figure
% set(1,'WindowStyle','Docked') %dock the figure

% calculate mechanism motion and plot it
for i=1:theta2_steps                         % step through motion of the mechanism
hold off;
% Draw Link 2:
Ax(i) = 0;                               % pivot point of link 2 position
Ay(i) = 0;                               % pivot point of link 2 position
Bx(i) = R*cos( theta2(i) );                % point B position
By(i) = R*sin( theta2(i) );                % point B position
plot( [Ax(i) Bx(i)], [Ay(i), By(i)],'Color','r','LineWidth',3 ); % draw the link from A to B for the current configuration
hold on;
grid on;
% Draw Base Pivot:
recsz = 0.005;                               % size of drawn base pivot
plot([0,recsz],[0,-recsz],'r');             % draw base pivot
plot([0,-recsz],[0,-recsz],'r');             % draw base pivot
plot(0,0,'ro','MarkerFaceColor','w');       % draw a small circle at the base pivot point
plot(Bx(i), By(i), 'bo','MarkerFaceColor','w'); % draw a small circle at B
text(Bx(i)+.002, By(i), 'B','color','b');    % label point B
% Calculate D here:
theta3(i) = acos( (a-R*cos(theta2(i)))/L );
D(i) = R*sin(theta2(i)) + L*sin(theta3(i));
% D(i) = R*sin(theta2(i)) + sqrt( L^2 - ( a-R*cos(theta2(i)) )^2 );
% Draw Link 3:
plot(a,D(i),'mo','MarkerFaceColor','w');       % draw a small circle at the piston pivot point
plot( [Bx(i), a], [ By(i), D(i)],'Color','m','LineWidth',3 ); % draw the link from B to C for the current configuration
% Draw piston:
rectangle('position',[ a-.0025, D(i)-.005, .005, .01 ] );    % draw the piston itself [x y w h]
% Figure properties
hold on;                         % draw on top of the current figure
xlabel('x (m)', 'fontsize', 15); % axis label
ylabel('y (m)', 'fontsize', 15); % axil label
grid off;                         % add a grid to the figure
axis equal;                      % make sure the figure is not stretched
title('Lab4 - Starter');          % add a title to the figure
axis( [xmin xmax ymin ymax] );    % figure axis limits
pause(0.009);                   % wait to proceed to next configuration, seconds
end

%% Part I - Quasi-Static Force Analysis
% Part I, a & b

Homework 2 1. Consider a waveform w(t) defined as below. t=-2 1...