Convert the following grammars to Chomsky normal form.

a$)$ S $->$ ABa,

A $->$ aab,

B $->$ Ac

b$)$ S $->$ baAB,

A $->$ bAB$|\backslash$lambda $,$

B $->$ BAa $|$A$|\backslash$lambda

c$)->$ AB$|$aB$,$

A $->$ abb$|\backslash$lambda $,$

B $->$ bbA