Chapter 6, Problem 2P

The tip of a one-link robot is located at $\theta =\pi /6\text{rad}$ at time $t=0$ s as shown in Fig. P6.2.It takes 2 s for the robot to move from $\theta =\pi /6\text{rad}$ to $\theta =\pi /6+2\pi \text{rad}$. If $l=10$ in., plot the $x-$ and $y-$ components as a function of time. Also find the amplitude, frequency, period, phase angle, and time shift.

FIGURE P6.2 Rotating one-link robot starting at $\theta =30°$.