8 {U} 8 A ZA L 0 YA 8 B & B W = 4 C ZB H =3 (a) Determine the transformation matrix AT, that describes frame {B} with respect to frame {A}. Describe all transformations with respect to frame {A}. Show all work. (b) If 0 = 30, calculate the transformation for frame {A} with respect to frame {B}. (c) Describe the location of a point C at the tip of 2B, the unit vector along the axis direction of the Cartesian coordinate frame, with respect to frame {A}. Show all work. (d) Describe the location of frame {B} with respect to frame {U}, if frame {A} and frame {U} have the same orientation, and the origin of frame {A} with respect to frame {U} is "PA =1 0.