Determine the angles which these vectors make with the, Civil Engineering

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Determine the angles which these vectors make with the

The member OA of the industrial robot telescopes and pivots about the fixed axis at point O At the instant shown, 6m/s2
Determine the magnitudes of the velocity and acceleration of joint A of the robot. Also, sketch the velocity and acceleration of A and determine the angles which these vectors make with the positive x-axis. The base of the robot does not revolve about a vertical axis.

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