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With reference to we = T(Pe) e, find the transformation matrix T(Pe) in the case of Z(p)Y(0)X() rotations in the current frame.

 

With reference to we = T(Pe) e, find the transformation matrix T(Pe) in the case of Z(p)Y(0)X() rotations in the current frame.

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The transformation matrix Te for ZpY0X rotations in the current frame is given by Te cosp sinp 0 sin... blur-text-image

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