By using dot product of two vectors, each component of ABR can be written as the dot product of a pair of unit vectors: AR = [B A B A 8B YA B A 2B A] 2B YA B ZA B ZA ZB ZA . Appraise the geometrical interpretation of the first row: [B A B A B A ] [B] [A] ZB ZA A XB Figure Q2(a) In a coordinate transformation, Frame {A} is transformed to Frame {B}. The resulting transformation matrix BT is given in the following matrix form with numerical values. 1 0 0 0.866 0 5 -0.500 1 BT = 0 0.500 0.866 LO 0 0 1 (i) (ii) (iii) If the position of point P in Frame {B} is expressed as BP = [111], calculate the coordinates of point P in Frame {A}. Appraise by providing your description to show how the Frame {A} can be transformed to obtain Frame {B} according to the numerical values given in the T. What does the symbol AR denote? Analyse the numerical result for BR based on the given condition in BT.