Consider the box in Figure 2.39a. Denote the initial frame by XY Z. First rotate the box about OA (X axis) by 30◦ . The resulting X0Y 0Z 0 axes are then rotated by −10◦ about the Y 0 axis, yielding...

Consider the box in Figure 2.39a. Denote the initial frame by XY Z. First rotate the box about OA (X axis) by 30◦ . The resulting X0Y 0Z 0 axes are then rotated by −10◦ about the Y 0 axis, yielding the X00Y 00Z 00 axes. Finally, the X00Y 00Z 00 axes are rotated by 18◦ about the Z 00 axis to yield the xyz coordinates. Calculate the rotation matrix that relates the xyz to XY Z and the coordinates of point D in the initial XY Z frame after these rotations