ISSUES IN SOLUTION

This problem may be solved using other notational schemes depending on the course context. In a course in dynamics, (2nd year mechanical engineers), vectors would probably be used. In a course in machinery kinematics, (3rd year mechanical engineers), the approach would be to construct loop equations in the complex plane. In either case, the results would be the same: a representation of the configuration as it evolves in time. A deep understanding of the derivation of the solution of the problem as presented here would be a valuable first step in the understanding of more complex machines.
^*)