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1-One axis-angle rotation equal to four axis-angle rotations. Consider a body frame B coincident with a global frame G. The frame B undergoes a rotation of a deg about the Pul-axis (A PART) followed by a rotation of B deg about the u2-axis (B PART), and then a+B deg about the us-axis (C PART) and deg about the u4-axis (D PART). If the body was supposed to be moved to the final orientation by only one rotation, find the angle and axis of rotation (E PART) a = 21deg B = 01deg B Pu1=[0 1 1], Puz=[1 0 1], Pu3=[0 1 1], Pu4=[1 1 1]. These u vectors are all defined in Body frame and will move with it. In other words, u2, u3, Bu4 will move with body by the first rotation and get new directions in G-frame. Similarly B u3, B, `u4 will move with body by the first and second rotations and get new directions in G-frame, and u4 will move with body by the first, second, and third rotations and get new directions in G-frame