Link A rotates about the reference frame N with an amount q along the direction n2, while link B rotates with respect to link A about a direction with an amount -92. Link C rotates with respect to link B about b2 direction with an amount q3. Finally, the sleeve Q slides on link C with a relative speed of (wrt C). n3 N n (A) 91 n B a b3 Figure 6: Sleeve sliding on rotating links Calculate a) the rotation matrix of reference frame C with respect to N, b) the velocity of the sleeve Q with respect to N, c) the angular acceleration of the link C with respect to N. d) the acceleration of the sleeve Q with respect to N.