Question: Figure 1 shows a rectangle in 2 D space with two contact points. The rectangle has a heightof h . f 1 and f 2

Figure 1 shows a rectangle in 2D space with two contact points. The rectangle has a heightof h. f1 and f2 are two point contacts with friction coefficient . Derive the range of such that thegrasp yields force closure and write it as function of h and c.

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