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 ZA by an angle a, then about by an angle y, and finally, about by an angle B. (a) Derive the equivalent rotation matrix R. (b) If the rotation matrix is expressed in terms of r1, 12, ..., 33, i.e., [1 112 113 121 122 123 132 133. AR = [r31 Examine the inverse problem by extracting equivalent angles a, and y from the rotation matrix.