A 2-kg sphere S is being moved in a vertical plane by a robotic arm. When the angle θ is 30° the angular velocity of the arm about a horizontal axis through O is 50 deg/s clockwise and its angular acceleration is 200 deg/s2 counterclockwise. In addition, the hydraulic element is being shortened at the constant rate of 500 mm/s. Determine the necessary minimum gripping force P if the coefficient of static friction between the sphere and the gripping surfaces is 0.50. Compare P with the minimum gripping force Ps required to hold the sphere in static equilibrium in the 30° position.
