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The RFLR is a constrained multibody system which can be considered to be a simplified model of an articulated mobile crane. The system is composed of four uniform links, three actuated joints, two identical wheels, one of which is actuated, and a mass attached to the central joint. There are a total of four applied torques. The problem that is addressed is to develop control laws such that the mass performs prescribed maneuvers in the vertical plane over a finite-time horizon \\([0, t_f]\\) where \\(t_f>0\\) is given. A procedure is proposed for solving the posed problem. 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