here information

and here are the questions

all answers must be in mattox form and include only integers

In terms of the x^n,y^n,z^1 coordinates of a fixed space frame (s), the frame (a) has its x^a-axis pointing in the direction (0,0,1) and its y^a-axis pointing in the (b) frames, similar to examples in the book and videos (e.g. Figure 3.7 in the book), for easy reference in this question and later questions. 1) calculate the matrix logafithm [w^] of Rsa by hand, exract and enber the rotation amount in radians with at least 2 decimpal 2) calculate the matrix exoponetial corlesponding to exponential coordinate of rotation =(1,2,0)T, the maximum allowable error element is 0.01 , sogive enough decimal where necessary 3) Write the 33 skew - symmetric matrix corresponding to =(1,2,0,5) confirm it using function (NecToso3) in Software