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Solve the above problem with parabolic blend such that it accelerates in 1 sec, constant speed in 1 second, and decelerates in the one second. Find position, velocity and acceleration of the joint as a function of time, then plot them. What is the value of position, velocity, and acceleartion at t = 0.5 s, 1.5 s, and 2.5 s.

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