10.5 For the spheric RRRR linkage in the posture shown, use vector algebra to make complete velocity and acceleration analyses at the posture indicated. 2 02 УА B 3 4 Од Ο Z 02 Figure P10.5 R020=7k in, R040 = 21 in, RAO₂ = -31 in, RBO₁ = 9 in, RBA = 5î+9ĵ – 7k in, and w2 = -60k rad/s.