Question: Problem 12. Frame {B} is initially coincident with frame {A}. Frame {B} is rotated about ZB by 30 , then about &g by 60

Problem 12. Frame {B} is initially coincident with frame {A}. Frame {B}

Problem 12. Frame {B} is initially coincident with frame {A}. Frame {B} is rotated about ZB by 30 , then about &g by 60 and then about Yg by 45. Finally, the origin of {B} is translated to [XA YA ZAl" = [8 3 -4]". (1) What is the transformation matrix T (2) What is the transformation matrix T ? (3) The position of a point in {B} is BP, = [6 -4 1]", find the coordinates of this point in {A}. (4) The position of a point in {A} is ^P2 = [-7 12 4]", find the coordinates of this point in {B}.

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