Given the following transformations for the coordinate frames, M and F $,$ please:

a$.$ Write the transformation matrix needed to determine the composite homogenous transformation.

$[vec(q)]M=[1,3,-1]T,=3$ about the $f1$ axis, $[vec(p)]=[2,1,-1]T$

$[vec(q)]F=[-2,2,1]T,[vec(p)]=[2,3,-2]T,=2$ about the $f2$ axis