Please answer fast! Use generic greek alphabet that is reconizable if needed. A brief explination of your thought or solving process would be greatly apriciated

A micro-robot, B, is moving within a spinning tube. The tube is fixed to a rotating shaft at a constant angle of 60. The shaft as well as the tube spins altogether at a rate of about ^1, where e frame is inertial. Spinning axis goes through point O and the robot's distance from O is a function of time, measured positive outward radially. Angular rate is also described below. r(t)=3(t1)2m(t)=trad/sec Define reference frames and necessary quantities. Find: (a) Define a frame a(a^1a^2a^3) that is fixed to the spinning shaft to help your analysis. Write out a position vector of B in order for the finding of inertial velocity and inertial acceleration, i.e. rOB. (b) Kinematic expression of inertial velocity and inertial acceleration of B. (c) What is B 's inertial velocity and acceleration when t=1 sec