Orange object has 3 degrees of freedom in its planar motion: two linear and one angular displacements.

This mechanism can deal with two linear ones.

Relations between coordinates of the object center A(x,y) and coordinates of pistons ends B(t,0) and C(0,s):

x = t

y = s

x and t are measured along Ox axis.

Large distance from point A to the runways is a disadvantage so ball bearing sliders should be used.

Angular position of the object is unstable and needs a control device (not shown).