6-4. The tip of a one-link robot is located at 0 = 1/2 rad at t=0 s as shown in Fig. P6.4. It takes 4 s for the robot to move from 0 = 1/2 rad to 0 = π/2+ 2 rad. If = 10 cm, plot the x- and y-components as a function of time. Also find the amplitude, frequency, period, phase angle, and time shift. 1=0 π/2 x gure P6.4 Rotating one-link robot starting at = 90°.

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