Question 1 (6 points)
Consider 6 basic rotation matrices as follows:
A1: Rx(theta) around the current axis
Bi: Ry(phi) around the current axis
Rz: psi around the current axis
A2: Rx(alpha) around the fixed axis
B2: Ry(beta) around the fixed axis
C2: Rz(gamma) around the fixed axis
Using the composition of rotations rules taught in class, determine the general rotation matrix resulting from the following base rotation matrices in the specified order: A2, B1, B2, C2, A1.