Using the configuration on the figure shown below, find the angular speeds ${}_1$ and ${}_2$ to move the end effector at point $P$ at a speed of $V,$ where the components of the speed are given as $V_x=50m\frac{m}{s}$ and $V_y=100m\frac{m}{s}.$ That is$,$ first find the explicit symbolic expressions of the two joint angular speeds as functions of the final coordinate $x$&$y,$ linear speed components $V_x$ and $V_y,$ link lengths $L_1$ and $L_2,$ and the joint angles ${}_1$ and ${}_2.$ Then, substitute appropriate values to find the angular speeds if the lengths of the two links are $L_1=200$ and $L_2=100mm.$ Similarly, also find the angular accelerations if the end effector at point $P$ is decelerating at a rate of $a_x=-25m\frac{m}{s^2}$ and $a_y=-50m\frac{m}{s^2}$ The momentary location of the point of interest $P$ is $[x$;$y]=[-24$;$132]$ in mm$.$ Do the calculations only for one combination of joint configuration and not all possible configurations $($hint: ${}_1=36\mathrm{.}89).$