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Find all the Instantaneous Centres of Rotation of the robot shown below (show your response graphically and theoretically). y 0 wo(t) A v(t) X

Find all the Instantaneous Centres of Rotation of the robot shown below (show your response graphically and theoretically).

y 0 wo(t) A v(t) X 

y 0 wo(t) A v(t) X

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