1. (10pts) Consider the frames in the attached figure as shown, obtain the following: 1) Homogeneous transformation representation of frame C relative to frame A,ATC. 2) Given a point, D (not shown) whose position is known celative to frame A as: PD=231 Where is it relative to frame C? 2. (10 pts) Consider two frames. Frame 2, initially coincident with frame 1 , is rotated about the y-axis of frame 1 by 50 and rotated about its own z-axis by 10, and translated 3 units along the x-axis and 2 units along the z axis of frame 1. A point D, whose position is given to be the same as above (question 1 , part 3) in frame 1. Find the corresponding position as seen in the current pose of frame 2