Modeling of kinematic schemes


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May be someone faced with programming/analysis of kinematic schemes?

That's something like this:
image
Somehow you need to describe the leverage of their relationship, the movable and stationary of serinity — and then "click here" and see how it goes.

Interested in the General principles of the description of algorithms may ready open-source libraries.

Now I don't quite know even how to approach a problem. And, I suspect, to dig yourself and melee will be incredibly long.
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There is a 2D simulation engine is Phun
Example on YouTube
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