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all answers must be in matrix form and include only integers

In terms of the x^3,y^11,z^s coordinates of a fixed space frame (s), the frame (a) has its x^a-axis pointing in the direction (0,0,1) and its y^3-axis pointing in the direction (1,0,0), and the frame (b) has its x^b-axis pointing in the direction (1,0,0) andits y b-axis pointing in the direction (0,0,1), Draw the (s), (a), and (b) frames, simitar to examples in the book and videos (e.8., Figure 3.7 in the book), for easy reference in this question and later questions. 1) write the rotation matrix Rsa 2) write Rsib1 3) write Rab 4) use Rsb to charge the refresentation of the point Pb=(1,2,3)T in (b) coordinate to (s) Cordinates 5) an angular velocity wis represented in \{5\} as s=(3,2,1)T what is its representation a