This represents the motion of polar manipulator.
Bodies are indicated by C(1) and C(2)
The base rotates about the horizontal 3-axis
The base extends outward along the moving x axis
In this problem, the point of interest -- the green grasper is the green cone at the tip.
The green cone is not a computer graphics child of the red arm. Rather, it is a free object: its position is computed from Equation (g) in Problem S.P.12.1
A red vector from the inertial frame locates the position of the point of interest.
All frame connections are shown by the combined (frame, location) notation