inserted to get the coordinates of vectors W and Z, and a second time with
values from equation 5.31 in the matrix to get the coordinates of vectors U and S. Equations
5.2 are then solved to find links 1 and 3, and the appropriate vector components are
added together to get the locations of fixed pivots Oz and 04. The link lengths are returned
to the main part of program FOURBARso that other linkage parameters can be
calculated and the linkage animated.