For the gantry robot of Prob. 10.26 in the posture described, find the instantaneous velocity and acceleration of the same tool point, x5 = y5 =

0, z5 = 45 mm, if the actuators have (constant)

velocities of φ˙

1 = φ˙

2 = 0, φ˙

3 = 40 mm/s, and

φ˙

4 = 20 rad/s.