You are given a subroutine for recursive reverse dynamics that returns joint torques: Q = RDA (Aoo, Too, q, qW, W*, Wn+1). (a) What are the terms W9 and W*? If you were coding this up, what would the size of those vectors/matrices be for a robot with n joints? (b) What would you do if you wanted to replace (or not compute at every step) W9? Now you're expected to do forward dynamics using the Lagrangian formulation. For each iteration (i.e. discrete time step), how would you compute (give pseudocode, i.e. loops, subroutine calls, etc.): (c) The joint space inertia N(q)? (d) The joint velocity product vector C(q, q)? (e) Gravity joint torque terms Q9? (f) External force effects in terms of joint torques Q*?