Problem 3-49: A robot, sketched in Figure P3-49, is moving a workpiece of mass m from the site of pro- cess 1 to the site of process 2. The column is moving with respect to the fixed base at linear velocity vo and angular velocity w. The arm is rotating at w with respect to the column. The gripper, which holds the workpiece, is moving at zro velocity and an ac- celeration ao and at angular velocity w3 and angular acceleration 3, all with respect to the arm. Note that gravity acts. Find the velocity and acceleration of the workpiece at the instant shown. The reference frames defined in Figure P3-49 are as follows: OXYZ is fixed to ground; Ox1y121 is fixed to the column; Ox2y222 is fixed to the arm; and Ox3y323 is fixed to the gripper. Workpiece, m W3, 3 to Gripper Arm Base Y, Y1, 32, 33 Column W2 FIGURE P3-49 00 X, x1, x2, x3