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2-DoF robot manipulator problem. How do you derive eqn2 of K2 from eqn 1 . K1=21m1d12,K2=21m2(px2+pz2),eqn1=21m2(d12+l22222l2sin2d12),eqn2
2-DoF robot manipulator problem. 
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Modern Quantum Mechanics
Authors: J.J Sakurai
Revised Edition
9781108499996, 201539292, 978-0201539295
