4

2
q̇1 (rad/s)

−2

−4
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

5
q̇2 (m/s)

−5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t (s)