Problem Statement:
Given three prescribed positions of the coupler and two center point coordinates, design the fourbar linkage and calculate the corrsponding circle point coordinates. Also, animate the designed fourbar linkage.

This is a fourbar rigid body guidance synthesis problem. It can be solved using the algorithm described in the textbook Kinematics and Mechanisms Design by C. H. Suh and C. W. Radcliffe, 1978, John Wiley & Sons. The program using QuickAnimation in Ch will generate the output and animation below.