The position vector r of a point P may be expressed in terms of its components with respect to either frame (G) or frame (B). Body and a global coordinate frames are shown in figure below. 1) Find the components of r in the frame (B), i.e., Brif 2) Find the components of r in the frame {G), i.e., "rif X M 40 Gr 100f-50f + 150R = Assume that the transformation matrix is given by 60 B Br=100f-50j + 150k BTG 0.766 0 0.643 = 0.557 0.5 -0.663 -0.322 0.866 0.383