function [x,y] = xy_values2(t)
    % to find xy values for root 1: [x_r1, y_r1] = xy_values(root1)

    gamma = pi / 4;
    l1 = 3;
    l2 = 3*(sqrt(2));
    l3 = 3;
    p1 = 5;
    p2 = 4;
    p3 = 3;
    x1 = 5;
    x2 = 0;
    y2 = 6;

    a2 = (l3.*cos(t) - x1);
    b2 = (l3.*sin(t));
    a3 = (l2.*cos(t + gamma) - x2);
    b3 = (l2.*sin(t + gamma) - y2);

    d = (2 * (a2.*b3 - b2.*a3));
    n1 = (b3.*(p2.^2 - p1.^2 - a2.^2 - b2.^2) - b2.*(p3.^2 - p1.^2 - a3.^2 - b3.^2));
    n2 = (-1*a3.*(p2.^2 - p1.^2 - a2.^2 - b2.^2) + a2.*(p3.^2 - p1.^2 - a3.^2 - b3.^2));

    y = n2/d;
    x = n1/d;
end