Write a Simulink model to integrate $Q=Q,{?}^{\text{'}}=,(0)=0,Q(0)=1,$ driven by a specified torque $.$ Animate the motion $($block provided in Simulink tutorial, can use a frame or other$)$ whose coordinate transformation is given by $Q.$ This corresponds to your animating a rigid body having an inertia matrix equal to the identity. Does the matrix $Q(t)$ remain a rotation matrix for all $t$ as you integrate it$?$ If not, how would you fix it$?$ Provide $Q(t)$ and the animation $($or just last image$)$ for the following cases:

$(1)=[0$;$0$;$1],t=5s$

$(2)=[0$;$-1$;$1],t=8s$

$(3)=[1$;$1$;$-1],t=4s$