I understand the circuit operation, I just need help with deriving the equations.
You are going to get it. Actually it is quite simple. Just an application of the node method. I used a computer program to solve the equations, but it is not much more difficult with a hand calculator. Although is is not necessary to worry about the output of the op amp because the high resistance of R6, I will include it anyway. Even though the op amp cannot go up/down to the full 12 volts, I will use that voltage regardless. All six equations have only one unknown, so the solutions are simple. Here goes.
1 ) Lowest pot setting and Vo stuck at -12 volts.
for a solution V+ = 0.929618 volts.
2) Middle pot setting and Vo stuck at -12 volts.
for a solution of V+ = 1.78791 volts.
3) Highest pot setting and Vo stuck at -12 volts.
for a solution of V+ = 2.67967 volts
4) Lowest pot setting and Vo stuck at +12 volts.
for a solution of Vo = 1.0814 volts.
5) Middle pot setting and Vo stuck at +12 volts.
for a solution of V+ = 2.01615 volts.
6) Highest pot setting and Vo stuck at +12 volts.
for a solution of V+ = 2.91669 volts.
As you can see, the voltages taking into consideration Vo are not much different than ignoring Vo because of the high resistance of R6.
Ratch