Consider the 2-D model for truck mounted crane used to save people in high floors. The crane uses one hydraulic pump and one tank to operate the mass M in 3 DOF: 1. Linear actuator for displacement (Y) 2. Hydraulic motor for the rotation about vertical axis (R) 3. Hydraulic motor for the rotation about horizontal axis (0) Assumptions: Consider that the two hydraulic motors (R and 0) and the mass M are located at the same point at a height equals (Y- initially at 1.5 m). Assume return pipe similar to pressure pipes. Neglect the masses of the hydraulic motors. Hydraulic motor 0 R Hydraulic motor Linear actuator 10 M J 27 Y Return pipe 3 pressure pipes L Tank Pump