Given the following:

${?}_1^{0}H=\left[\begin{array}{cccc}0& 0& -1& -2\\ 1& 0& 0& -1\\ 0& -1& 0& 5\\ 0& 0& 0& 1\end{array}\right],{?}_2^{0}H=\left[\begin{array}{cccc}-1& 0& 0& 1\\ 0& 1& 0& 3\\ 0& 0& -1& 4\\ 0& 0& 0& 1\end{array}\right]$

a$)$ Sketch coordinate frames $1$ and $2$ below using coordinate frame $0$ as a reference. You only need to sketch the translations in the plane of the page. Do not worry about $3$D sketching. PAY ATTENTION TO THE NOTATION.