The setup shows 3 rigid links (with fixed lengths) constrained by 4 joints. The blue joints are fixed in place and only allow rotation, while the black joints can move and also allow rotation. Initially θ1 < θ2, and the top link is perfectly horizontal.
As θ1 decreases (due to the leftmost link rotating clockwise), it is clear that θ2 will increase, but I would like to get the specific value of θ2 as a function of θ1. Is there a name for this kind of problem? What would be the best software tool to simulate this?