Exercise 3.16 In terms of the $\hat{x}_s$, $\hat{y}_s$, $\hat{z}_s$ coordinates of a fixed space frame {s}, frame {a} has its $\hat{x}_a$-axis pointing in the direction (0, 0, 1) and its $\hat{y}_a$-axis pointing in the direction (-1, 0, 0), and frame {b} has its $\hat{x}_b$-axis pointing in the direction (1, 0, 0) and its $\hat{y}_b$-axis pointing in the direction (0, 0, -1). The origin of {a} is at (3, 0, 0) in {s} and the origin of {b} is at (0, 2, 0) in {s}.