Given: A rotating and telescoping robotic arm is gripping a small sphere P in its end...

 

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Given: A rotating and telescoping robotic arm is gripping a small sphere P in its end effector. The arm is rotating counterclockwise with a constant angular speed of . The arm is extending such that the radial distance from O to P is related to the rotation angle by the following equation: r(0) = Ro + R cos 20 where r and are given in terms of meters and radians, respectively. Find: Determine the velocity and acceleration of the sphere P. Write your answers as vectors in terms of the polar unit vectors , and . 0 P Use the following parameters in your analysis: Ro = 2 m, R = 0.5 m, 0 = /2 rad and rad/s. = 2 Given: A rotating and telescoping robotic arm is gripping a small sphere P in its end effector. The arm is rotating counterclockwise with a constant angular speed of . The arm is extending such that the radial distance from O to P is related to the rotation angle by the following equation: r(0) = Ro + R cos 20 where r and are given in terms of meters and radians, respectively. Find: Determine the velocity and acceleration of the sphere P. Write your answers as vectors in terms of the polar unit vectors , and . 0 P Use the following parameters in your analysis: Ro = 2 m, R = 0.5 m, 0 = /2 rad and rad/s. = 2