Consider the two$-$link RP manipulator below. The first link length is $1$ meter, and the second link is perpendicular to the first link. The initial configuration of the system is given as q$0=[$ d$]=[00],$ where represents the rotation angle of the first joint and d is the displacement along the prismatic joint.

Please write the DH table for this robot and solve its forward kinematics. Your answer should be a position vector of the end effector, x $=[$x y$].$