4.9 Two vectors and a, attached to bodies 1 and 2, respectively, have local components si = [1.2, -0.5]" and sa = (-0.3,0.8)". Vector q is defined as q = [X1,Y1, 01, X2, Y2, 02). (a) If ^, = 30 and $2 = 45, evaluate the entries of the Jacobian matrix 0, for Q = ssz. o (b) If x, = 6.2, y = 1, 0 1, -1.9, y2 = 2.3, and 02 = 45, evaluate the en- tries of the Jacobian matrix for = d where d = 0 - [x2 x1, Y2 -- yu]". = 30, x2 = 4.9 Two vectors and a, attached to bodies 1 and 2, respectively, have local components si = [1.2, -0.5]" and sa = (-0.3,0.8)". Vector q is defined as q = [X1,Y1, 01, X2, Y2, 02). (a) If ^, = 30 and $2 = 45, evaluate the entries of the Jacobian matrix 0, for Q = ssz. o (b) If x, = 6.2, y = 1, 0 1, -1.9, y2 = 2.3, and 02 = 45, evaluate the en- tries of the Jacobian matrix for = d where d = 0 - [x2 x1, Y2 -- yu]". = 30, x2 =