g Y, Y1 ao, vo Gem (Mass, m -X, x1 l Y2 lo B x2 B W2, W2 Showroom floor FIGURE P3-31 Problem 3-31: A robot built by Chris Dana Gina, Inc. for handling rare gems is moving in the plane of the sketch with velocity vo and acceleration ao, both with respect to the showroom floor, as sketched in Figure P3-31. Link AB is rotating at w, with respect to the floor, and link BC is rotating at w2 and w, both with respect to link AB. A delicate gem of mass m is being transported; the gem's geometric dimensions are negligible compared with I and lo. Note that grav- ity acts. Find the velocity and acceleration of the gem.