Fig. 1.83 shows a line diagram of a simple robot arm ABC. Point A is fixed and the links AB and BC are driven by torque motors at A and B. When the arm is in the position shown the velocity and...

Fig. 1.83 shows a line diagram of a simple robot arm ABC. Point A is fixed and the links AB and BC are driven by torque motors at A and B. When the arm is in the position shown the velocity and acceleration of C are specified as shown.

Determine the required angular velocities and angular accelerations of the links AB and BC.