QUESTION Figure 1 depicts a two-degrees of freedom (2DOF) robot whose 375 mm-long base link starts to rotate counterclockwise (CCW) at a constant rate = 60 deg/s from 00 = 0 deg at the same instant when the length of the second link of the robot starts to retract at a constant rate of 150 mm/s from lo 125 mm. Compute: 1. the initial velocity and acceleration of the end-effector in polar coordinates; 2. the initial speed of the end-effector; 3. the initial velocity and acceleration of the end-effector in normal coordinates; 4. sketch the polar and normal components of the initial velocity and acceleration of the end- effector on the figure. 375 mm B Figure 1: A 2DOF robot whose base link is rotating CCW as its second link is retracting.