This can be done by any of several methods. We could use a graphical approach to determine the position, velocity, and acceleration ofthe output links for all 180 posi-tions of interest, or we could derive the general equations of motion for any position, differentiate for velocity and acceleration, and then solve these analytical expressions for our 180 (or more) crank locations. A computer will make this latter task much more palatable. If we choose to use the graphical approach to analysis, we will have to do an independent graphical solution for each of the positions of interest. None of the infor-mation obtained graphically for the first position will be applicable to the second posi-tion or to any others.