At the instant shown, the industrial manipulator is rotating about the z axis at v1 = 5
Chapter 20, Problem 20-46(choose chapter or problem)
At the instant shown, the industrial manipulator is rotating about the z axis at \(\omega_{1}=5 \ \mathrm{rad} / \mathrm{s}\), and about joint B at \(\omega_{2}=2 \ \mathrm{rad} / \mathrm{s}\). Determine the velocity and acceleration of the grip A at this instant, when \(\phi=30^{\circ}, \ \theta=45^{\circ}\), and r = 1.6 m.
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