5.11 ANALYTICAL SYNTHESIS OF A PATH GENERATOR wITH PRESCRIBED TIMING The approach derived above for motion generation synthesis is also applicable to the case path generation with prescribed timing. In path generation, the precision points be reached, but the angie of a line on the coupler is concem. the timing which the coupler reaches the precision point is specified in terms of input rocker an- gle B2. In the three-position motion generation problem we specified the angles o2 and of vector Zin order to control the angle of the coupler. Here we instead want to spec- ify angles B2 and B3 of the input rocker, to define the timing. Before, the free choices were B2 and B3. Now they will be o2 and o3. In either case, all four angles are either specified or assumed as free choices and the solution is identical. Figure 5-4 (p. 202) and equations 5.25, 5.26, 5.30, and 5.31 apply to this case as well. This case can be ex- tended to as many as five precision points as shown in Table 5-3.