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3. (10 points) The orgin of frame B with respect to A is 2,,. The unit vectors of frame B with respect to A are

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3. (10 points) The orgin of frame B with respect to A is 2,,. The unit vectors of frame B with respect to A are xB-(1 0 0)', zjB (a). What is the rotation matrix ARB ? What is BRA (b). What are the angles of rotation of A with respect to B and vice-versa? (c). Given 11-10, 2,2]T, what is AP? ,-(0 1 0)

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