$7\mathrm{.}10[20]$ Calculate ${}_{12}^{},{}_{23}^{},t_1,t_2,$ and $t_3$ for a two$-$segment linear spline with parabolic

blends. $($Use $(7\mathrm{.}24)$ through $(7\mathrm{.}28).)$ For this joint, ${}_1=25\mathrm{.}0,{}_2=35\mathrm{.}0,$

and ${}_3=-10\mathrm{.}0.$ Assume that $t_{d12}=t_{d23}=4\mathrm{.}0$ seconds and that the default

acceleration to use during blends is $40$ degrees $\frac{?}{?}$ second ${?}^2.$ Sketch plots of position,

velocity, and acceleration of $.$

please sketch th graphs.