Questions: Rotation matrices Rotation on the X axis RX=1000cossin0sincos Rotation on the Y axis RY=cos0sin010sin0cos Rotation on the Z axis RZ=cossin0sincos0001 Any rotation could be decomposed into the sequence of three elementary matrices. For example, the most intuitive is that which is obtained first by performing a rotation on the X axis by an angle (phi), then on the Y axis by an angle (theta) and finally on the Z axis by an angle (psi),Rx()Ry()Rz() For the derivation of rotation matrices, please refer to the attached RotationDerivation.pdf. 1. Please implement the rotation matrices in Python. The skeleton of the code is in HW2_Rotation_matrices_skeleton.py and it is provided in the assignment. (40 pts) 2. Given =/2;=/4;=/2 and the vector v1=(1,2,3), calculate the new vector v2 after the XYZ rotation on v1. (40 pts) 3. Given =/2;=/4;=/2 and the vector v1=(1,2,3), calculate the new vector v3 after the YZX rotation on v1. (20 pts)