$2)(10$pts$)$ For a frame F$.$ we do the following transformations.

a$)$ rotate F by a rotation matrix R with respect to F to get frame F:

b$)$ translate Fa by a vector a$,$ with respect to F to get frame F$3$:

c$)$ rotate F by a rotation matrix R with respect to F to get frame Fi

find the homogeneous transformation H$,$ H$.$ H$.$ and H