Compute the Jacobian Matrix of the following :[ x ; = [ L1q1 + L2cos(q2) + L3cos(q2+q3) ;y ; L2sin(q2) + L3sin(q2+q3) ;z ] -L2cos(q2) - L3sin(q2 + q3) ]

Carbon dioxide gas expands isotherm a turbine from 1 mpa, 500 k at 200 kpa. assuming the ideal gas model and neglecting the kinetic and potential energies, determine the change in entropy, heat transfer and work for each kilogram of co2.

Asolid cylinder is concentric with a straight pipe. the cylinder is 0.5 m long and has an outside diameter of 8 cm. the pipe has an inside diameter of 8.5 cm. the annulus between the cylinder ad the pipe contains stationary oil. the oil has a specific gravity of 0.92 and a kinematic viscosity of 5.57 x 10-4 m2/s. most nearly, what is the force needed to move the cylinder along the pipe at a constant velocity of 1 m/s?

Apiston-cylinder device contains 0.1 m3 of liquid water and 0.9 m3 of water vapor in equilibrium at 800 kpa. heat is transferred at constant pressure until the temperature of water reaches 350 °c. determine (a) the quality of water at the initial state (b) the work associated with this process, (c) the heat associated with this process.