The member OA of the industrial robot telescopes and pivots about the fixed axis at point O. At the instant shown, θ = 60°, θ˙ = 1.2 rad/s, θ¨ = 0.8 rad/s², O̅A̅ = 0.9 m,  O̅A̅˙ = 0.5 m/s, and O̅A̅¨ = −6 m/s² . Determine the magnitudes of the velocity and acceleration of joint A of the robot. Also, sketch the velocity and acceleration of A and determine the angles which these vectors make with the positive x-axis. The base of the robot does not revolve about a vertical axis.

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1.1 m 0.9 m 15° y Problem 2/154