the human leg can be crudely approximated as two rigid bars (the femur and the tibia) connected with a pin joint. at the instant shown, the velocity of the ankle a is zero, the tibia ak has an angular velocity of 2.3 rad/s counterclockwise and an angular acceleration of 1 rad/s2 counterclockwise. determine the relative angular velocity and angular acceleration of the femur kh with respect to ak so that the velocity and acceleration of h are both straight up at the instant shown.
