Consider and draw a fixed frame $\backslash$Sigma S $=($OS $,\{$xS $,$ yS $,$ zS $\}).$

$($i$)(7$ points$)$ Sketch the frames $\backslash$Sigma M and $\backslash$Sigma N determined by

HS

M $=$

$$

$$

$$

$$

$1/203/21$

$0101$

$3/201/20$

$0001$

$$

$$

$$

$,$ HN

S $=$

$$

$$

$$

$$

$0010$

$1/23/2033/21/201$

$0001$

$$

$$

$$

$.$

$($ii$)(7$ points$)$ Compute the displacement HN

M $.$