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6.The gure followed shows a frame {B} that is rotated relative to frame {A} about Z axis by 30 degrees. Here 2 axis is pointing

6.The gure followed shows a frame {B} that is rotated relative to frame {A} about Z axis by 30 degrees. Here 2 axis is pointing out to the page. Please write the rotation matrix ER . Give BF = [0 2 D]T , please calculate AP (15)

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