The robot arm is elevating and extending simultaneously. At a given instant, = 30, =

The robot arm is elevating and extending simultaneously. At a given instant, θ = 30°, θ˙ = 40 deg /s, θ¨ = 120 deg /s², l = 0.5 m, l˙ = 0.4 m /s, and l¨ = −0.3 m /s². Compute the radial and transverse forces Fr and F_θ that the arm must exert on the gripped part P, which has a mass of 1.2 kg. Compare with the case of static equilibrium in the same position.

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y 一1 0.75 m 1.2 kg