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$[$Optional$]$ Deliverable $6-$ Intrinsic vs Extrinsic rotations $(20$ pts$)$

Consider the following sequence of rotations:

$R_{1}90$ around $x$

$R_{2}180$ around $y$

$R_3-30$ around $x$

A$)$ Extrinsic

The sequence of rotations is applied with respect to a fixed frame of reference $($the world framet$),$ as follows:

Note: the body axes are unlabeled, but represented in red $(x_b),$ green $(y_b),$ green $(z_b),$

B$)$ Intrinsic