Find the transformation matrix for the following transformations: 1) Rotate a about the fixed x-axis. (Xo, Yo, Zo) (X, Y, Z); 2) Followed by a rotation of about current z-axis. (X, Y, Z) (X2, Y2, Zz); 3) Followed by a rotation of y about Xo -axis. (X, Y, Z2) (X3, Y3, Z3); 4) Followed by a rotation of about Z3 axis. (X3, Y3, Z3) (X4, Y4, Z4). Note: give final answer in matrix multiplication form, write out the elements of the matrices, no need to multiply the matrices out.