Analysis Used in Submerged Body Research 435 
= eeenaenien ees pets ean a 
WX 
SOR ee re a ea ae Taw i (A17) 
The value of w%,/U which satisfies Eq. (A17) is #x,/U=1. This result can be used to 
determine the relationship between the crank-length ratio and the strut-spacing ratio by sub- 
stituting wx,/U = 1 in Eq. (A15) as follows: 
sin ¢, = 1 = ——— (A18) 
or, restating Eq. (A18), 
a5 1 Xo 
Sod GRD . 
The present Planar Motion Mechanism was designed having equal crank lengths. There- 
fore, in accordance with Eq. (A19), the strut spacing with respect to the body CG must be 
equal. For these conditions, the expression for the phase angle between struts for pure 
pitching motion reduces to 
cos Ps So ee (A20) 
and the body pitch angle relation becomes 
2 % 2, Ps 
G (=s4— (22 sin 3) cos (.¢ = *)| (A21) 
where 
(2 sts 
Flys ee) 
is the maximum amplitude of the pitch angle 0. 
As can be seen from Fig. 5, there is a given relationship between the point in the cycle 
when the pitch angle is zero and the zero point of the resolver (synchronous switch or 
