3. The Two-Link-Planar Robot shown in the figure has two joints, the first is prismatic (motion along the Zo axis (with the displacement d as the joint variable) while the second is revolute (motion about the Z axis (with the displacement 02 as the joint variable). The link parameters are given as: Link Mass Length Center of mass COM Inertia 1 m d d/2 2 m2 a2 a2/2 Applied Force fi Izzz And the gravity is along the x axis: g = [-90_0]T. Required: Follow the Recursive Newton-Euler Formulation to find the two equations of motion. Hints: Equations 6.150-161 in the textbook are developed for revolute joints only. This is a simple problem that you can solve by finding the linear and angular accelerations of the center of mass of each link and then applying the force and torque balance equations. 6 di m 20 Yo 1x2 22 K 72 92 F m2, Izzz