Kinematic Diagram:
Mobility calculation:
Note that the result from Gruebler's equation gives 2 degrees of freedom, but this is assuming that the two input linkages, links 2 and 5, are independent. However, in the geared five-bar mechanism, the motion of link 5 is directly linked to the motion of link 2 by the gear, with the relationship defined by the phase angle phi and the gear ratio lambda. Thus, the actual number of degrees of freedom is one.
Manual position, velocity, and acceleration analysis: (Based on equations provided in Design of Machinery)
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