Animating a Stephenson Linkage / Mathematical CFraming | (mechanical engineering pls)

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#1

Basic pistons can be CFramed using some basic trig, and I know that well. The Stephenson Linkage however is more of a contraint-solution problem by appearance, but I am not really sure how it would be mathematically described to progressively solve CFrames with respect to time. Reference materials / partial solution more than appreciated.

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Fig 1. Stephenson Linkage

#2

Why not just use Prismatic Constraints to achieve this and hinges

#3

you can use constraints for this , still you don’t do that if you’re trying to make something move… it’s better to script this…