Let I = (0, ej, ez, e,) be an inertial reference frame and frame A = (0', aj, az, a3) be aligned with I and translating with velocity vojo = Une. Frame B = (0', b. b2, b;) is a polar frame with angular velocity w 123 (P is free to move in A.) Derive the following using the coordinates. in Figure 3.43: a. The transformation table between A and B. b. The position rpo of P with respect to O' expressed as components in B. c. The position rpo of P with respect to O expressed as components in B. d. The velocity pjo and acceleration a po of P with respect to O' in B expressed as components in B. e. The velocity po and acceleration apo of P with respect to O in A expressed as components in B. Figure 343 Problem 3.18.