(Solved): A four-linkage robot arm system consists of a telescope link \( O A \), a beam \( A B \) and a fix ...

A four-linkage robot arm system consists of a telescope link \( O A \), a beam \( A B \) and a fixed link BC, as shown in Figure Q4. Figure Q4: four-linkage robot arm system \[ \begin{array}{c} O A=4.0 \mathrm{~m}, \quad A B=3 \mathrm{~m}, \quad B C=2.0 \mathrm{~m} \\ \omega_{O A}=2.0 \mathrm{rad} / \mathrm{sec}, \quad \omega_{B C}=-1.5 \mathrm{rad} / \mathrm{sec} \\ \theta_{1}=150^{\circ} \text { and } \theta_{2}=60^{\circ} \end{array} \] Considering the provided information, for the system: a. Determine the position vector equations (2 marks) b. Define the radial and tangential unit vectors and link lengths (2 marks) c. Determine the velocity vector equations (3 marks) d. Determine the acceleration vector equations (3 marks) e. Determine the absolute velocity of the point \( C \) (must draw the velocity diagram) (5 marks) f. Determine the absolute acceleration of point \( \mathrm{C} \) (must draw the acceleration diagram) (5 marks)