I need answer urgently for the below example (example 5.1)

but please use the value below to re-solve the example with the new value below:

1/

a1=40

a2=35

theta1=25

theta2=30

2/

Find the length of the distance between J1 and J3

And make it defined by the symbol C

3/

Find the angle between the x-axis and C

4/

Find the horizontal and vertical distances of the point J3

5/

Compare the result of the horizontal and vertical distance compensation of point J3 With the product of the solution of the original solution (as I attached the solution in the attachments as pictures) The solution that you make must be similar to the original solution, as in the pictures below

thanks

Example 5.1 Planar Elbow Manipulator Consider the two-link planar arm of Figure (5). The joint axes z0 and z1 are normal to the page. We establish the base frame o0x0yeze as shown. The origin is chosen at the point of intersection of the x0 axis with the page and the direction of the x0 axis is completely arbitrary. Once the base frame is established, the o1x1y1z1 frame is fixed as shown by the D-H convention, where the origin o1 has been located at the intersection of z1 and the page. The final frame o2x2y2z2 is fixed by choosing the origin o2 at the end of link 2 as shown. The link parameters are shown in Table (2). Table 2 Link parnunvers for 2-fk plemar manipularor. Mechatronies Engineering - Rohotics - Lecture 5 7 Dr. Basill The A-matrices are determined from Eq(2) as shown: A1=c1s100s1c1000010a1c1a1s101 A2=c2s200s2c2000010a2c2a2s201 The A-matrices are determined from Eq (2) as shown: A1=c1s100s1c1000010a1c1a1s101 A2=c2s200s2c2000010a2c2a2s201 The T-matrices are thus given by: Notice that the first two entries of the last column of T20 are the x and y components of the origin o2 in the base frame; that is, x=a1c1+a2c12y=a1s1+a2s12 These two entries also are the coordinates of the end-effector in the base frame. The rotational part of T20 gives the orientation of the frame o2x2y2z2 relative to the base frame