Please provide a full explanation on how you reached the answer

[1!] pts} Consider the coordinate system {a} and {h} which have the same origin and follow the right hand rule but are rotated differently. ax ay . oz {a} {b} Ela: Suppose we rotate {o} around \"a for -5IJ {note that it is a we rotation} degrees to form a new coordinate system {c}. Draw the resulting rotated frame. Find a single rotation matrix