The robot of Prob 7 16 is shown again here, where the coordinate system x y z with origin at O 2 rotates about the X axis at the rate Nonrotating axes X Y Z oriented as shown have their origin at O 1 If w 2 3 rad s constant, w 3 1 5 rad s constant, w 1 w 5 0, O 1 O 2 1 2 m, and O 2 A 0 6 m, determi...

The robot of Prob. 7/16 is shown again here, where the coordinate system x-y-z with origin at

Question:

The robot of Prob. 7/16 is shown again here, where the coordinate system x-y-z with origin at O₂ rotates about the X-axis at the rate θ˙. Nonrotating axes X-Y-Z oriented as shown have their origin at O₁. If w₂= θ˙ = 3 rad/s constant, w₃ = 1.5 rad/s constant, w₁ = w₅ = 0, O₁O₂ = 1.2 m, and O₂ A = 0.6 m, determine the velocity of the center A of the jaws for the instant when θ = 60°. The angle β lies in the y-z plane and is constant at 45°.