Orange object has 3 degrees of freedom in its planar motion: two linear and one angular displacements.
This mechanism can deal with two linear ones.
Relations between coordinates of the object center A(x,y) and coordinates of pistons ends B(t,0) and C(0,s):
x = t
y = s
x and t are measured along Ox axis.
Large distance from point A to the runways is a disadvantage so ball bearing sliders should be used.
Angular position of the object is unstable and needs a control device (not shown).