Chapter 5, Problem 59P

First, define the coordinate system XY with its origin at O2 and X-axis passing through O4 asshown above, then based on the provided steps Perform coordinate transformation from XY to xy to get the trajectory of point P. Show all the steps and calcualtions

I don't know how to solve this

Question 2 (40 Points) Consider the following double pendulum-like system with links ₁ and 12. The angles 0 and & could have angular velocities ėêk and êk, respectively, where ②k is a unit vector that points out of the page and is perpendicular to x and y. They could also have angular accelerations Ök and êk. The angle is defined relative to the angle 0. The link 12 is a spring and can extend or compress at a rate of 12. It can also have a rate of extension or compression Ï2. li y êr1 êe 12 χ 3 еф er2 ده لج 1) Express the velocity of the mass in terms of the unit vectors ê0, êr1, êø, and êr2, and any extension/contraction of the links (e.g.,. i; and Ï¿) (12 Points) 2) Express the acceleration of the mass in terms of the unit vectors ê¤, ê×1, êp, and êÃ2, and any extension/contraction of the links (e.g.,. İ; and Ï¿) (12 Points) 3) Express the velocity of the mass in terms of unit vectors î and ĵ that point in the x and y directions, respectively. Also include the appropriate,…