The mass of Link 1 and 2 of the manipulator as in Problem 1 is 1.0 kg and 0.6 kg, respectively, all mass exists as a point mass at the distal end of each link, as describe in Section 6.7, textbook (pp.177). Write the configuration-space equation for this manipulator, if g=10 m/s. (Hint: Don't start from scratch, check your textbook!, 20 pts)