Hi There

This is my first time posting, as i am new to matlab, so apologies if i have missed some etiquette that i know there is on some forums.

i am trying to calculate some values for angles of a mechanical arm with a linkage system. i have drawn out the system and found all the relationships i possibly can using the cosine rule and put them all into the file, hence some are not applicable to this bit of code.

my problem is i am trying to use the solve function to solve the following equation for zeta;

k2=sqrt(s^2+h^2-2*s*h*cos(theta+zeta))

i can find the solution of this using wolframalpha as;

zeta=-acos((h^2-k^2+s^2)/(2*h*s))-t

however if i write solve(k2, zeta) it comes up with the following error;

Warning: The solutions are parameterized by the symbols: z7.

To include parameters and conditions in the solution, specify the 'ReturnConditions' option.

> In solve>warnIfParams (line 500)

In solve (line 356)

Warning: The solutions are valid under the following conditions: (in((theta + z7 + acos((H^2 + 270400)/(1040*H)))/(2*pi), 'integer') | in((theta + z7 - acos((H^2 + 270400)/(1040*H)))/(2*pi), 'integer')) & -1 <= (H^2 +

270400)/(1040*H) & (H^2 + 270400)/(1040*H) <= 1 & 0 < z7.

To include parameters and conditions in the solution, specify the 'ReturnConditions' option.

> In solve>warnIfParams (line 507)

In solve (line 356)

I know that the answer for theta and zeta are 0.271 and 0.757 at the point where l is 330, i could just write in what the rearrangement is but that kind of defeats the object of having a maths package in my eyes and i would like to know for future knowledge what i'm doing wrong.

Hopefully someone can help me by telling me i'm an idiot and i've missed something stupid.

Ross