(a) Given a fixed frame {0} and a moving frame {1} initially aligned with {0}, perform the following sequence of rotations on {1}: 1. Rotate {1} about the {0} frame x-axis by a; call this new frame {2}. 2. Rotate {2} about the {0} frame y-axis by 3; call this new frame {3}. 3. Rotate {3} about the {0} frame 2-axis by ; call this new frame {4}. What is the final orientation Ro4? (b) Suppose that the third step above is replaced by the following: "Rotate {3} about the -axis of frame {3} by y; call this new frame {4}." What is the final orientation Ro4? (c) Find Tea for the following transformations: il 1 1 Tab 0 0-1 0 0 1 0 0 Tcb= -150-150 1 0 18-10 0 1