Question: Compute C b a ( , , ) = C 3 ( ) C 1 ( ) C 3 ( ) where C 3 (

Compute Cba(,,)=C3()C1()C3() where C3(*) is a principal axis rotation about the "3"
axis, and C1(*) is a principal axis rotation about the "1" axis. This is called a "3-1-3" rotation
sequence and can also be represented as
FaC3(alpha)FpC1(beta)FqC3(gamma)Fb
where Fp and Fq are intermediate frames.
Compute C b a ( , , ) = C 3 ( ) C 1 ( ) C 3 ( )

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