Chapter 6, Problem 5P

The tip of a one-link robot is located at $\theta =3\pi /4\text{rad}$ at time $t=0$ s as shown in Fig. P6.5.It takes 2 s for the robot to move from $\theta =3\pi /4\text{rad}$ to $\theta =3\pi /4+2\pi \text{rad}$. If $l=15$ cm, plot the $x-$ and $y-$ components as a function of time. Also find the amplitude, frequency, period, phase angle, and time shift.

FIGURE P6.5 Rotating one-link robot starting at $=135°$.