1. The Figure 1 shows the first two joints of an anthropomorphic robot the gripper is on link 2 at 03 and a = a = 5. At a specified instant, the robot is moving with 8 = 0,0= ATAN(1),0 = -2,0 = 6,0 = 152,0 = -3/2. (a) Determine the angular acceleration 002- (b) Determine the material acceleration am (0). (c) Determine the local acceleration 0902 (01). (d) Determine the material acceleration 092 (03). (e) Determine the local acceleration 0902 (03). (f) Verify that material acceleration combined with angular acceleration does not satisfy the shifting law by computing, (0) [2(03)]-X(0301) [02(0)+ (g) Suppose the mass and inertia of link 1 is negligible and for link 2, the inertia is modelled as a sphere of radius r = 5 at the end effector, m = 2 and 1 (03) = diag(mr mr, mr]). Determine 1M (03). (h) Determine ,M(0) using the parallel axis theorem/shifting law. Yp Yo UT Figure 1 03 Yo m = 4 1 = 16 a Xo 4 Figure 2 m=4 12=16 3 92 10