K1 = d/a, K2 = d/c, K3 = (a^2 - b^2 + c^2 + d^2) / (2ac)
Geometric derivation of cam profiles (cycloidal, harmonic) and gear train ratios. Part II: Dynamics of Machinery Analyzes the relationship between forces and motion. Internet Archive Kinematics and dynamics of machinery : Norton, Robert L Kinematics And Dynamics Of Machinery By Rl Norton Solution