In homogeneous coordinates, one can change a frame-(basis)-using a transformation matrix written as T=(M)-1 Suppose the frames are related by the following equations: U1-v1 U2-v1-v2 U3--v1+v2-v3 Qo Po+v1+2v2+3v3 a) What does Qo represent in this change of base system? b) Find the change of frames matrix M. c) Find the transpose of the matrix M d) What will happen to a point P and a vector v if the Matrix M was the identity matrix I e)How would a transformation matrix look like if its effect was to scale the points Q and vector U? f) What will be the inverse of the scaling matrix