Question: A robot arm moves in the vertical plane so that the 0 . 1 4 5 - k g cylinder P travels in a circle

A robot arm moves in the vertical plane so that the 0.145-kg cylinder P travels in a circle about point B, which is not moving. Know that arm BP starts from rest in a horizontal position and that the speed of P increases at a constant rate of 200mms2. Determine the force acting on the cylinder at t=3s.
A robot arm moves in the vertical plane so that

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