need 19 a and b as a solution set. Robotics class.

2. Rotation Kinematics FIGURE 2.20. A cube at its initial position 19. Global and local rotation of a cube Figure 2.20 illustrates the initial position of a cube with a fixed point at D and edges of length 1 = 1. Determine, (a) Coordinates of the corners after rotation of 30 deg about a-axis followed by rotation of 30 deg about X-axis (b) Coordinates of the corners after rotation of 30 deg about y-axis followed by rotation of 30 deg about X-axis