Consider the drone robot shown on the right. Let's assume that R = Rg, R = R is given. (a) (10pts) Obtain the drone's angular velocity w with respect to the global frame {s} derived from skew symmetric matrix by using R and R. (b) (10pts) Obtain the drone's angular velocity (b) derived from skew symmetric matrix with respect to the body frame by using R and R. (s)