The robot of Prob. 7/16 is shown again here, where the coordinate system x-y-z with orig...

The robot of Prob. 7/16 is shown again here, where the coordinate system x-y-z with origin at O₂ rotates about the X-axis at the rate Nonrotating axes X-Y-Z oriented as shown have their origin at O₁. If ω₃ = 1.5 rad/s constant, ω₁ = ω₅ = 0, determine the velocity of the center A of the jaws for the instant when θ = 60°. The angle β lies in the y-z plane and is constant at 45°.