The member $OA$ of the industrial robot telescopes and pivots about the fixed axis at point $O.$ At the instant shown, $=55,{}^{}=2\mathrm{.}1ra\frac{d}{s},$

${}^{}=0\mathrm{.}67ra\frac{d}{s^2}\frac{,}{b}ar(OA)=1\mathrm{.}02m,O{A}^{}=0\mathrm{.}51\frac{m}{s},$ and $\frac{?}{\text{b}\text{a}\text{r}}(OA)=-5\mathrm{.}6\frac{m}{s^2}.$ Determine the velocity $v$ and acceleration a of joint $A$ of the robot.

The base of the robot does not revolve about a vertical axis.

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