The two link planar manipulator shown in the figure below is constrained to move in the plane defined by the vectors and 2 of reference frame e. Point O is fixed in e and the angles 0 and 2 are measured relative to . Caution: This problem is slightly different from homework 4, problem 1. P s . 0 6 0 Introduce a new reference frame in each bar and use the BKE to find simplified expressions for the following in terms of the unit vectors of the new reference frames: (i) FOP (ii) P (iii) aP Note, the lengths and 2 are fixed, so l = l = = = 0.