## Hwk 2 #2

My loop closure equation:

r a/0 + r b/a = r o/a Where o is the point connecting the point a and point b

`like in problem 1 of hwk 1.`

This yields:

(A)i2 +(L3)i3=(B)i

Derivative of this:

(Adot)i2 -(A*lamdadot)j2 + (L3*thetadot)j3 = (Bdot)i

My questions specifically is if L3 should have an i3 component when taking its derivative. Note: i found Adot when looking just at velocity components in the j direction. This yielded (Adot)i2 = (bdot)i which I then dotted with i2 to get Adot = Bdot*cos(lamba) since i2 = cos(lamba)i + sin(lamba)j

Thanks,

Andrew