A person’s arm rotates around the shoulder (S) and elbow (E) joint axes. The arm has the length a = 9 1/2", the forearm has the length b = 11". The shoulder joint angle is θ = 43°. The elbow joint angle is γ = 21°. a) Compute the Cartesian coordinates of the endpoint H by using a+b. b) Identify the origin of your reference frame.

A person’s arm rotates around the shoulder (S) and elbow (E) joint axes. The arm has the length a = 9 1/2", the forearm has the length b = 11". The shoulder joint angle is θ = 43°. The elbow joint angle is γ = 21°. a) Compute the Cartesian coordinates of the endpoint H by using a+b. b) Identify the origin of your reference frame.