Suppose that a vehicle identified is identified with a frame C and moves with respect to a world frame denoted with W. At the beginning the two frames are coincident. The frame C executes with respect to W the following set of motions a planar rotation of an angle ai [1 o]T a planar a rotation of an angle 1 a translation along the x axis t = (a) Write the results as a composition of rotations Rw. (12 points) (b) What is the origin of W in C. (8 points)