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1. Given a RR robot as shown in Fig.1. Solve the following questions with analytical approach and graphical (Solidworks or Inventor) approach. Show your steps and label the velocity and acceleration polygons. (a) Let R2=20, R3=30, theta2=30 (degree), 03=120 (degree), solve position B(x,y) (b) Let R2=20, R3=30, x=25, y=35, solve 02 and 03. (2 solutions) (c) Let R2=20, R3=30, theta2=30 (degree), theta3=120 (degree), w2=0.7, w3=1.2, solve velocity of B. (d) Let the parameter as same as (c) and a2=1, a3=1.5. Solve the acceleration of B.

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