In the figure below, B is a rigid cube whose sides are of length l. A,C, and D are square plates that are hinged to B as shown in the figure. The motion of the system is such that the angular velocity of B in reference frame G is: GB=xb^x+yb^y+zb^z. The velocity of point O of B in the reference frame G is: GvO=vxb^x+vyb^y+vzb^z. Note that i and vi(i=x,y,z) are time-varying scalars. Further, ,, and as shown in the figure are also time-varying orientation angles. Compute GA : the angular velocity of A in G. This computation must be stored in the variable name G_omega_A