please show all calculations! thanks

3-D Pose and Reference Frames The diagram shows two coordinate frames, Fp={xp,yp,zp} and Fc={xc,yc,zc}. On each coordinate frame, a point with (local) coordinates (0,0,21) is marked. Assume that Fp is the global reference frame. 1. Write the matrix Tp,c that represents the frame Fc w.r.t. frame Fp. 2. Write the matrix Tc,p that represents the frame Fp w.r.t. frame Fc. 3. What are the coordinates of the point pc=(0,0,21) when written in terms of frame Fp ? 4. What are the coordinates of the point pp=(0,0,21) when written in terms of frame Fc ? For all answers, show your calculations and transformation matrices. Figure 1: A point marked on two different frames of reference