Consider the presentation of the orientation of a frame {B} via the following successive rotations: Start...

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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} first about ZA by an angle a, then about  by an angle y, and finally, about Ŷ by an angle B. (a) Derive the equivalent rotation matrix R. (b) If the rotation matrix is expressed in terms of r₁1, 12, ..., 33, i.e., [₁1 112 113 121 122 123 132 133. AR = [r31 Examine the inverse problem by extracting equivalent angles a, ß and y from the rotation matrix. 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} first about ZA by an angle a, then about  by an angle y, and finally, about Ŷ by an angle B. (a) Derive the equivalent rotation matrix R. (b) If the rotation matrix is expressed in terms of r₁1, 12, ..., 33, i.e., [₁1 112 113 121 122 123 132 133. AR = [r31 Examine the inverse problem by extracting equivalent angles a, ß and y from the rotation matrix.