Derive an expression for the position (x,y) and velocity ($\dot{x}$, $\dot{y}$) of the point p at the end of two robot arms shown in Figure QA3. Hence, calculate the resultant velocity of p when $\theta_1 = \theta_1 = 20^\circ$ and $\dot{\theta_1} = -20$ deg/sec and $\dot{\theta_2} = +30$ deg/sec. The link lengths are a = b = 0.7 m
