Below shown problem 3. Need help to check if my solution for qn 3a is correct.

Need help for qn 3b too as i dont know how to solve them

3 ) ( @ ) BRAYz ( Y , B , a ) = Rx ( xx ) RY ( B ) RX ( y ) ca - SQ cB SB O O O O 0 cy - sy O O -SB D CB 0 sy cy ARE 8 ( Ry ( B ) ) . ( R x ( y ) ) . ( R Z ( xx ) ) cB 10 SB c & - SO O O 1 0 O CM - sy SQ Ca O SB 10 cp cy O O CB SB.Sy SB.CY - sa O cy - sy SX c d O - SB CB . sy CR.Cy O O ( CB. CX + SB, Sy. SQ) (-CBsd + SB. sy, cxx) ( spey ) CM, SX ( cy. ca ) ( - SM ) - SB. CA + CB.Sy. SX (sBisa + CB. sy . (x ) ( CB . cy ) A r12 513 B 123 ( 3 1 132Problem 3 (12 marks) Consider the presentation of the orientation of a frame {B} via the following successive rotations: Start with the frame coincident with a known frame {A} Rotate {B} rst about Z; by an angle [3, then about XE by an angle 1/, and nally, about 23 by an angle a. (a) Derive the equivalent rotation matrix 31R. (b) If the rotation matrix is expressed in terms of r11, r12, , r33, i.e., T11 1\"12 T13 3R = T21 T22 T23 T31 T32 T33 Analyse the inverse problem by extracting equivalent angles a, ,8 and y om the rotation matrix