At the instant shown, the cylindrical coordinates of the 4-kg part A held by the robotic m...

At the instant shown, the cylindrical coordinates of the 4-kg part A held by the robotic manipulator are r == 0.6 m, θ = 25°, and z = 0.8 m. (The coordinate system is fixed with respect to the earth, and the y axis points upward.) A’s radial position is increasing at dr/dt = 0.2 m/s, and d2rfdt2 = –0.4 m/s2. The angle θ is increasing when dθ/dt = 1.2 rad/s, and d2θ/dt2 = 2.8 rad/s2. The base of the manipulator arm is accelerating in the z direction at d2z/dt2 = 2.5 m/s2. Determine the force vector exerted on A by the manipulator in terms of cylindrical coordinates.