In this problem, use uniform modal damping (i with values to be determined as part of the problem. The other parameters are: mass of the base 95 kg, mass of the elbow joint and actuator m2 30 kg and mass of the m1 = welding tip m3 = = : 9 kg. The effective stiffnesses of the arms and joints are given by k = 3 106 N/m, k = 2 106 N/m and k3 = 7.5 105 N/m. : (b) x. m3 M2 x 3 M. k a) Determine the equations of motion and write them in matrix form.