Consider two initially coincident reference frames, A and B in R3. Frame B is then rotated about its Z a) b) c) d) e) axis by /4 radians. Sketch the coordinate frames A and B after the rotation. Write the rotation matrix RAB that will take a point from the B frame and represent it in the A frame. Write the rotation matrix RBA. What are the coordinates in frame A of a point with coordinates pB = [0, 0, 1]T given with respect to frame B? What are the coordinates in frame B of a point with coordinates pA = [1, 1, 0]T given with respect to frame A