An aircraft made a sequence of 3-2-1 rotations with Euler angles = 110 , = 30 and = 10. The vector is along the z body axis of the aircraft. Vector represents the sun light direction. The x-y-z coordinate in the plot represents the inertial frame. To unify the definition of the inertial frame, you may assume the center of the inertial frame is the same as the center of the body frame, the inertial Y-axis is pointing to the true North and the inertial z-axis is pointing opposite to the Zenith. Find the relative angle between and when the Sun has azimuth angle a = 30 and elevation angle e = 45