Question 1
In terms of the \hat{x}_{\textrm{s}}x^s, \hat{y}_{\textrm{s}}y^s, \hat{z}_{\textrm{s}}z^s coordinates of a fixed space frame {s}, the frame {a} has its \hat{x}_{\textrm{a}}x^a-axis pointing in the direction (0,0,1)(0,0,1) and its \hat{y}_{\textrm{a}}y^a-axis pointing in the direction (-1,0,0)(−1,0,0), and frame {b} has its \hat{x}_{\textrm{b}}x^b-axis pointing in the direction (1,0,0)(1,0,0) and its \hat{y}_{\textrm{b}}y^b-axis pointing in the direction (0,0,-1)(0,0,−1). The origin of {a} is at (0,0,1)(0,0,1) in {s} and the origin of {b} is at (0,2,0)(0,2,0). Draw the {s}, {a}, and {b} frames, similar to examples in the book and videos, for easy reference in this question and later questions.
Write the transformation matrix T_{sa}Tsa. All elements of this matrix should be integers.
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to long question.....
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not able too understand...too long
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