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2. The base structure of the firetruck ladder rotates about a vertical axis through O with a constant angular velocity 0 = 12. At the same time, the ladder unit OB elevates at a constant rate 0 = 0, and section AB of the ladder extends from within section OA at the constant rate R = A. Find general expressions for the components of acceleration point B in spherical coordinates if, at time t = 0,0 = 0, q = 0, and AB = 0. Express your answers in terms of S2, 0, A, Ro, and 1, where Ro = 0 and is constant. Plot the components of acceleration of B as a function of time for the case 2 = 10 deg/s, Q = 7 deg/s, A = 0.5m/s, and Ro = 9m. Let t vary between 0 and the time at which o = 90° 00 (Hint: acceleration in spherical coordinates are: ar = R - Ro? - Roʻcos? cos d an = (Ré) - 2 R$ sin Rdt 1 d an (R$) + Ro? sin cos. R di More hint: R = Ro + A1, 0 = 0 + 921,0 = 0o + Dr. Will need differentiation and substitution.)