Utilizing the joint notation system for specifying manipulator configurations $($refer to Section $8\mathrm{.}1\mathrm{.}2),$ create sketch diagrams $($similar to Figure $8\mathrm{.}1$ but also referencing Figure $8\mathrm{.}2$ to accurately draw the joint motion types$)$ for the following robots:

a$)TRT$:$R$

b$)$ TVR:TR

c$)RR$:$T|||$