Meriam, Kraige & Bolton — Kinematics of Particles: Problem 2_141

2/141 An industrial robot is being used to position a small part \(P\). Calculate the magnitude of the acceleration \(a\) of \(P\) for the instant when \(\beta = 30^\circ\) if \(\dot{\beta} = 10 \text{ deg/s}\) and \(\ddot{\beta} = 20 \text{ deg/s}^2\) at this same instant. The base of the robot is revolving at the constant rate \(\omega = 40 \text{ deg/s}\). During the motion arms \(AO\) and \(AP\) remain perpendicular. Given dimensions from diagram: \(OA = 300 \text{ mm}\), \(AP = 200 \text{ mm}\).