Question: Need help to solve this qn Problem 3 (12 marks) Consider the presentation of the orientation of a frame {B} via the following successive rotations:

Need help to solve this qn

Problem 3 (12 marks) Consider the presentation of the orientation of a frame {B} via the following successive rotations: Start with the frame coincident with a known frame {A}. Rotate {3] first about PB by an angle ,3, then about 33 by an angle 1!, and nally, about ZR by an angle a. (a) Derive the equivalent rotation matrix R. (b) If the rotation matrix is expressed in terms of rum\

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