FTR, Also Pyslvs-UI may be useful for 2D kinematics analyze and you also could use its core ("pyslvs"; and based on SolveSpace[2] solver) module written in Python.
[0] https://github.com/KmolYuan/Pyslvs-UI
[1] https://github.com/KmolYuan/pyslvs
[2] https://github.com/solvespace/solvespace