Equation 5.33d expresses the summation of vectors around a closed loop. Angles B2 and B3 are contained within transcendental expressions making their solution cumbersome. The procedure is similar to that used for the analysis of the fourbar linkage in Section 4.5 (p. 152). Substitute the complex number equivalents for all vectors in equation 5.33d. Expand using the Euler identity (equation 4.4a, p. 155). Separate real and imaginary terms to get two simultaneous equations in the two unknowns B2 and B3. Square these expressions and add them to eliminate one unknown. Simplify the resulting mess and substitute the tangent half angle identities to get rid of the mixture of sines and cosines. It will ultimately reduce to a quadratic equation in the tangent of half the angle sought. The results are: *