Question: the towlink serial mechanism shown in fig 2 rotates about...

The tow-link serial mechanism shown in Fig. 2 rotates about two axes as shown. Note that unit vectors i, j and k are fixed in space.

1. Find expressions for the velocity and acceleration of the end point B given (theta1, theta2, omega1 and omega2, and alpha1 = alpha2 =0). Write the velocity vb and acceleration ab in unit vectors (e1,e2,e3) when (e1,e2,e3) are fixed to link L1

2. Write the velocity vb and acceleration ab in normal vectors (e1,e2,e3) when (e1,e2,e3) are fixed to link L2