Link A rotates about the reference frame V 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 n I 91 3 a a b B R P b C3 C b 92 C C 93 Figure 4: 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. No credit will be awarded to the solutions that does not make use of the formal (Euclidean or coor- dinate) vector notations as covered in the class.