Derive the equations of motion for the given link with the vector of generalized coordinates, q = [d1 d2]. Let ml1 , ml2 be the masses of the two links, mm1 , mm2 be the masses of the rotors of the two joint motors, and Im1 , Im2 the moments of inertia with respect to the axes of the two rotors. Let also kr1 , kr2 be the gear ratios for the first and second joint motors, respectively. The motors are located on the joint axis with the center of mass located at the origins of the respective frames (i.e. pmi = pi1 and zmi = zi1 for i = 1, 2). 1 and 2 denote the forces applied to the joints. Assume there are no friction and contact forces