Move points A and B to define the size and first position of the link. Move point C to define the second location and point D to define the second orientation.
The purple fixed points can be dragged to define different synthesized loinkages.

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While it is guaranteed that you can disassemble the synthesized linkage and reassemble it at each of the defined locations, it is not guaranteed that the synthesized linkage can move smoothly between the two.

App generated by Geometry Expressions