Write a matlab code to solve this question:

P$1\mathrm{.}1.$ Frame $B$ is initially coincident to frame $A$ in Figure$1($a$).$ Frame $B$ is then rotated $30$

degrees about the vector described by the directed line segment from $P$ to $Q($following

the right$-$hand rule$).$ Determine the position and orientation of the new frame B with

respect to frame A$.$ Express your answer in the form of a homogeneous transformation

matrix.

Figure $1($a$)$