resolution of a system for the cinematic study of position of a mechanism

[Tizio90]

Hello everyone, I am encountering difficulties in the resolution of a system of equations, but we start from the beginning :biggrin:. In this period I am attending a functional design course and the professor has divided us into groups and assigned exercises to solve, one of which concerns the cinematic analysis of a mechanism.

I wrote the closing equations, to get to the position film studio, and I got the following system:
(c-y)
(c-y)
e+a*cos(x)-y*cos(z)-b*cos(w)=0
f+b*sen(w)-a*sen(x)-y*sen(z)=0
the reference system used has the direct x axis along the horizontal and vertical y.
a, b, c, d, and, f are constant, while y, v, w ,z are variable.
x is instead the angle of motive, so what I should get from the previously written system are the four equations of variables depending on x.

At this point problems begin, as if I try to insert this system into matlab, the software cannot solve it. I tried to eliminate the breasts and things developing in taylor series, but nothing to do. I also tried to change the reference system, placing the x-solidar axis to the direction of the glyph and the y-orthogonal axis to it: in this way I get the searched equations (although they are very long), but then I encounter problems in the cinematic study of speed (in fact the assistant advised me to use the classical reference system and not the solidarity to the glyph). thank you in advance for the possible answer and good evening to all! :finger:
p.s. if there were any doubts about the identification of the various symbols used, I will insert a better image.

 

[meccanicamg]

I would say that it is the classic oscillating glyph and there is enough literature on the internet with the resolution of cinematism and on many universities sites you will find the solution already resolved for the umpteenth time.