Spatial Slider-Crank Mechanism

This video is based on the design numbered as 1589 in volume 2, Mechanisms in modern technic, I. Artobolevski, with some amendments.
Pink crank has cylindrical joint with the base, prismatic joint with yellow driving pulley and spherical joint with the output slider (in glass). The latter has cylindrical joint with the base and performs rotary reciprocating motion while moving up-down.

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