The vertical shaft of the industrial robot rotates at the constant rate . The length h of

Question:

The vertical shaft of the industrial robot rotates at the constant rate ω. The length h of the vertical shaft has a known time history, and this is true of its time derivatives h˙ and h¨ as well. Likewise, the values of l, l˙, and l¨ are known. Determine the magnitudes of the velocity and acceleration of point P. The lengths h₀ and l₀ are fixed.