How to animate legs for a pet of a linked prim

How to animate legs for a pet of a linked prim other than

timer()
{
llSetLinkPrimitiveParams(4,[PRIM_ROTATION,llEuler2Rot(<0,PI/2,llSin(i)> ]);
llSetLinkPrimitiveParams(5,[PRIM_ROTATION,llEuler2Rot(<0,PI/2,llCos(i)> ]);
llSetLinkPrimitiveParams(3,[PRIM_ROTATION,llEuler2Rot(<0,PI/2,llCos(i+PI/2)> ]);
llSetLinkPrimitiveParams(2,[PRIM_ROTATION,llEuler2Rot(<0,PI/2,llSin(i+PI/2)> ]);
i = i + PI/4 ; //can use PI/2, PI/3 or PI/8
}

I do not want to use a script for each leg.

Is there another accurate timer to use sin curves with?