# Is this motion possible for this manipulator?

I'm currently solving the exercises of Modern Robotics book. I came across this problem but it is not clear to me how to approach it. I computed the analytic Jacobian which is

$$\begin{bmatrix} \dot{x}\\\dot{y} \\ \dot{z}\end{bmatrix} = \left(\begin{array}{ccc} L\,s_{\theta_1}\,s_{\theta_2}\,s_{\theta_3}-L\,c_{\theta_2}\,s_{\theta_1}-L\,c_{\theta_2}\,c_{\theta_3}\,s_{\theta_1}-L\,c_{\theta_1} & -L\,c_{\theta_1}\,\left(s_{\theta_2}+\sin\left(\theta_2+\theta_3\right)\right) & -L\,c_{\theta_1}\,\sin\left(\theta_2+\theta_3\right)\\ L\,c_{\theta_1}\,c_{\theta_2}-L\,s_{\theta_1}+L\,c_{\theta_1}\,c_{\theta_2}\,c_{\theta_3}-L\,c_{\theta_1}\,s_{\theta_2}\,s_{\theta_3} & -L\,s_{\theta_1}\,\left(s_{\theta_2}+\sin\left(\theta_2+\theta_3\right)\right) & -L\,s_{\theta_1}\,\sin\left(\theta_2+\theta_3\right)\\ 0 & L\,\left(c_{\theta_2}+\cos\left(\theta_2+\theta_3\right)\right) & L\,\cos\left(\theta_2+\theta_3\right) \end{array}\right) \begin{bmatrix} \dot{\theta}_1\\\dot{\theta}_2 \\ \dot{\theta}_3\end{bmatrix}$$ At zero configuration $$\theta_1=\theta_2=\theta_3=0.$$, we get $$\begin{bmatrix} \dot{x}\\\dot{y} \\ \dot{z}\end{bmatrix} = \begin{bmatrix} -L&0&0\\2L&0&0\\0&2L&L\end{bmatrix} \begin{bmatrix} \dot{\theta}_1\\\dot{\theta}_2 \\ \dot{\theta}_3\end{bmatrix}$$ The analytic Jacobian is not invertible at this configuration. My conclusion is the motion is not possible but it seems to me according to the question, there is a possibility. Any suggestions?  If you plug in $$[\dot x, \dot y, \dot z]^T = [10, 0, 0]^T$$ to your equation at the zero configuration, you will find that to achieve the desired linear velocity you need to satisfy both $$\theta_1 = -10/L$$ and $$\theta_1 = 0$$. Therefore, it is not possible.
Here is a top view of the robot, and the end effector velocity if $$\dot{\theta}_1 > 0$$: 