Q1/ The figure below shows such an LSPB trajectory, where the maximum velocity V = 60 deg/sec. In this case, the times are given as t = 5 sec and t=30 sec. In addition, the joint angles in beginning and the ending q=20 deg and q; = 70 deg , respectively. For these required data , determine the following : 1- The position function and its profile. 2- The velocity function and its profile. 3- The acceleration function and its profile. 4- The function of jerk variable and what is the nature of jerk? 5- The position, velocity, and acceleration at tm=13 sec. te tm ty t.

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Centripetal Force

A particle, body, object or certain mass while travelling in a rotational path or semicircular path, experiences an inertia force. If that inertia force pulls the towards the inward of the imaginary circle in the rotation, it is termed as centripetal force.