Activity$16\mathrm{.}4$: Homogeneous transforms

$$ Draw the diagram for a rotation of $30$ followed by a translation of $(3,1).$

$$ Compute the homogeneous transform.

this is from an open source book called

Mordechai Ben$-$Ari

Francesco Mondada

Elements of Robotics

chapter $16$

section $16\mathrm{.}4$

you can search up the book and can access it in the springer link

I want the diagram s

the diagrams should be similar to the ones in the chapter