1. The problem statement, all variables and given/known data if i have a three link massless manipulator (each with length l1 l2 l3) that has rotational springs at each joint, k1 k2 k3, and I apply a force on the third link, what will be the joint angles at equilibrium? 2. Relevant equations k = Fd/theta 3. The attempt at a solution do I just find the lever arm to each joint and multiply that by the force to find the angles? i.e. theta1 = (l1 + l2 + l3) * F / k1 theta2 = (l2 + l3) * F / k2 theta3 = l3* F / k3 Somehow that doesn't seem right to me because the base joint will go crazy.