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2. If the coordinate frame oixiyizi is obtained from the coordinate frame ooxoyozo by a rotation of /2 about the x-axis followed by a

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2. If the coordinate frame oixiyizi is obtained from the coordinate frame ooxoyozo by a rotation of /2 about the x-axis followed by a rotation of /2 about the fixed y-axis, find the rotation matrix R representing the composite transformation. Sketch the initial and final frames.

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