W1 1-13) An industrial robot has to transport a workpiece from the position depicted for t = 0 in the dotted position depicted for t = tÅ. The arm (length L₁ = 1 m), rotationally fixed at the grounding, rotates with constant angular velocity w₁ = 2/s. The second arm with length ↳₂ = 1 m is fixed rotationally on the first arm and carries the workpiece. Determine the constant angular acceleration α₂ relative to L₁ (with the depicted direction of rotation) to reach the position t = ta, assuming that the angular velocity (relative to L₁) at start is w2(t) = 0! Determine velocity v(t) and acceleration a(tå) of the workpiece at time t = të! (either absolute value and direction or horizontal and vertical component) L1 W₂ L₂ α2 t=0 t=tA