The Bricard mechanism is a classic example of overconstrained system.
It is composed by 5 rods of 1 m length with a uniformly distributed mass of 1 kg,
and 6 revolute joints.
The system is under gravity effects (9.81 N/kg acting in the negative *y* direction).

Grübler formula gives 0 degrees-of-freedom for this mechanism, but the particular orientation of the revolute pairs yields a system with 1 degree-of-freedom.

The analysis to be performed is a dynamic simulation with a duration of 600 s. Initially, the system is at rest in the position shown in the figure.

The reference solution for this problem is the time-history of the position of point P3 (*x*, *y* and *z* coordinates). The maximun allowed errors are 1.0E-1 (low precission) and 1.0E-3 (high precission), measured with 3000 output steps and a threshold value of 1.0E-3.

The following information is provided:

- Time-history of the position of point P3, as text data file: A04_solution_data.txt
- Animation of the system, as AVI movie (first 10 s): A04_solution_movie.avi
- Time-history of the position of point P3, as plot (first 10 s):