a) Write MATLAB functions which accept an angle as input and return the rotation matrix describing rotation around X and Y axes. example of a MATLAB function for rotation around Z: function rotz.m R_Zrotz (angle) % accept angle as input in degrees and return a 3x3 rotation matrix R_Z function R_Z = rotz (angle) -end DEG2RAD = angle pi/180; angle * DEG2RAD; c = cos (angle); s=sin(angle); R_Z [cs 0; sc 0; 0 0 1]; degree to raddian conversion & converting deg to rad define the rotation matrix