$($b$)$ Figure indicates a RP $($Rotation$-$Prismatic$)$ robot in its home position. $($a$)$ Develop the coordinate frames. $($b$)$ Determine the velocity of end point. Data: $d_3=1\mathrm{.}2m,{}_2=40,d_3^{}=0\mathrm{.}5\frac{m}{s}$ and ${}_2^{}=0\mathrm{.}1ra\frac{d}{s}.[5$ Marks$]$

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