Question 4: Determine the cubic polynomials to generate multi-segment trajectory having a 6-second move, computed in three parts, where the trajectory begins at 109 and is required to reach 40 at 2 seconds, 30 at 4 seconds, and 90 at 6 seconds, with zero velocity at 0, 2, 4, and 6 seconds. Then plot q(t), (t) and (t). Note: this question will require computer software to generate data from the polynomials you develop, and plotting for which you can use any software. Question 4: Determine the cubic polynomials to generate multi-segment trajectory having a 6-second move, computed in three parts, where the trajectory begins at 109 and is required to reach 40 at 2 seconds, 30 at 4 seconds, and 90 at 6 seconds, with zero velocity at 0, 2, 4, and 6 seconds. Then plot q(t), (t) and (t). Note: this question will require computer software to generate data from the polynomials you develop, and plotting for which you can use any software