a) Assume the coordinates of the end effector of a robot defined by the point p(7,3,1), attached to Fnoa, is subjected to the transformations. Compute the coordinates of the point relative to the reference frame at the conclusion of transformations. i. Followed by a rotation of 90 about the z-axis, [Rot(z,90)] ii. Followed by a translation of [4,3,7], trans (4,3,7)] iii. Followed by a rotation of 90 about the y-axis, [Rot(y,90)] [10 marks]