Derive the translational and rotation kinematic equations for an aircraft using a 3-1-3 rotation sequence, rather than the 3-2-1 rotation sequence provided in class. The angles used for these rotations are denoted 1, 0, and 4, respectively. For which angle, and at what magnitude of that angle, does the singularity occur? Recall that singularity refers to the orientation when the rotational kinematic equations are undefined. (13 points)