Question: Find Direction Cosine Matrix [ P ( t = 0 ) H ] with theta = 2 5 degrees When theta = 0 degrees we

Find Direction Cosine Matrix [P(t=0)H] with theta=25 degrees
When theta =0 degrees
we have b1=-p1, b2=p2 and b3=-p3
Theta is the Hinge Angle (H point).
I have a problem here because I don't understand the h and P frame
Find Direction Cosine Matrix [ P ( t = 0 ) H ]

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