Problem #4 (15 points) - Constructing AB From [ARG] Let A and B be two rigid bodies with A fixed and B rotating, as seen by A. If the rotation matrix of body B into A is
cos(θ) -sin(θ) 0
sin(θ) cos(θ) 0
0 0 1
R =
cos(α)sin(β)cos(γ) cos(α)cos(β)cos(γ) -sin(α)cos(γ)
sin(α)sin(β)cos(γ) sin(α)cos(β)cos(γ) cos(α)cos(γ)
sin(β) -cos(β) 0
compute (in terms of θ and the components of the vector A with respect to the SRT{a1,a,a} in A. Hint: You will find it useful to read Section 5 in the notes "2 rot kin.pdf".