1. In one sentence, explain what the following homogeneous transformation accomplishes when applied to a point (x, y, z), in terms of yaw, pitch, roll, and translation. T = 0 0 0 0 2 1 0 0 - I Z 1 2. Write out the 4x4 homogeneous transformation T2, when applied to a point (x, y,z) in global coordinate frame, translates the point by (3,0,2), then followed by a pitch of 45 degrees. Your answer need not be simplified, and may be represented as a single matrix or the product of two or more matrices. 3. We would like to reverse the transformation applied by TT, that is, write out (TT). Your answer need not be simplified, and may be represented as a single matrix or the product of two or more matrices. 4. Write out the Quaternion equivalent to the rotations in T and Tas 9 and 92- Then calculate the product, that is, 9 92 (Hint: Steve's book may be a good source of reference)