Consider the presentation of the orientation of a frame {B} via the following successive rotations: Start with the frame coincident with a known frame {A}. Rotate {B} first about by an angle , then about Z by an angle , and finally, about & by an angle Y. (a) Derive the equivalent rotation matrix ^R. A (b) If the rotation matrix is expressed in terms of 11, 12, [11 AR r12 r13 = 721 122 123 [r31 132 133] **) r33, i.e., examine the inverse problem by extracting equivalent angles , and y from the rotation matrix.