A planar RRP manipulator label the coordinate frames and find the velocity at the endpoint of the manipulator shown in figure. Data: ${}_1=20,{}_2=25,d_3=200mm,l_1=130mm{}_1^{}=3\frac{\text{r}\text{a}\text{d}}{sec},{}_2^{}=0\mathrm{.}5\frac{\text{r}\text{a}\text{d}}{sec}$ and $d_3^{}=2\mathrm{.}4\frac{mm}{sec}.$

$\backslash$table$[[,$Prismatic,Revolute$],[$Linear$,R_{i-1}^0\left[\begin{array}{c}1\\ 0\\ 0\end{array}\right],R_{i-1}^0\left[\begin{array}{c}0\\ 0\\ 1\end{array}\right](d_n^0-d_{i-1}^0)$