Problem 2. EOM input-output form to non-linear Configuration Space to State Space (A) Put the following equations in input-output form into the nonlinear configuration space form (e.g. NO SMALL ANGLE APPROXIMATIONS TO START). Then, (B) make small angle assumptions to find a linear form of the configuration form. 63; -3.82 + 4cos(11.12 + 3cos(21.1 +11 = F1 -3.fi +3.33 + 12 +31 +212 = 0 3.fi + 1 +2.12 +313 + I3 = 0 2.iz +102 +2.13 +21= F 33 + 113 + 2 = F2 Problem 2. EOM input-output form to non-linear Configuration Space to State Space (A) Put the following equations in input-output form into the nonlinear configuration space form (e.g. NO SMALL ANGLE APPROXIMATIONS TO START). Then, (B) make small angle assumptions to find a linear form of the configuration form. 63; -3.82 + 4cos(11.12 + 3cos(21.1 +11 = F1 -3.fi +3.33 + 12 +31 +212 = 0 3.fi + 1 +2.12 +313 + I3 = 0 2.iz +102 +2.13 +21= F 33 + 113 + 2 = F2