Trajectory with Intermediate Velocity, Joint 2, 1 to 2
Expression 3: "V" Subscript, 1 , Baseline left parenthesis, "t" , right parenthesis equals StartFraction, 3 pi Over 4 , EndFraction "t" squared minus StartFraction, 6 pi Over 4 , EndFraction "t" Has graph. To audio trace, press ALT+T.V1t=3π4t2−6π4t
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Expression 4: "V" Subscript, 2 , Baseline left parenthesis, "t" , right parenthesis equals StartFraction, 3 pi Over 4 , EndFraction left parenthesis, "t" minus 1 , right parenthesis squared minus StartFraction, 3 pi Over 4 , EndFraction Has graph. To audio trace, press ALT+T.V2t=3π4t−12−3π4
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Expression 5: "A" Subscript, 1 , Baseline left parenthesis, "t" , right parenthesis equals StartFraction, 6 pi Over 4 , EndFraction "t" minus StartFraction, 6 pi Over 4 , EndFraction Has graph. To audio trace, press ALT+T.A1t=6π4t−6π4
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Expression 6: "A" Subscript, 2 , Baseline left parenthesis, "t" , right parenthesis equals StartFraction, 6 pi Over 4 , EndFraction left parenthesis, "t" minus 1 , right parenthesis Has graph. To audio trace, press ALT+T.A2t=6π4t−1