d$)$ Given:

$H_1=\left[\begin{array}{cccc}cos& sin& 0& a\\ -sin& cos& 0& b\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right],H_2=\left[\begin{array}{cccc}cos& 0& sin& 0\\ 0& 1& 0& 0\\ -sin& 0& cos& c\\ 0& 0& 0& 1\end{array}\right]$

Describe what is happening to an object undergoing $H=H_1{H}_2.$ Be very spe$-$

cific and include any applicable reference frames. Draw the initial body frame, any

intermediate frames and the final body frame.