Question

A tank on a 15 degree slope rotates its turret and barrel as shown below for (a). Find the transformation matrix from the inertial to barrel frame and the components of a unit vector aligned with the barrel and, expressed in the inertial frame, I, the following two ways:

A) First the tank rolls by ? the slope, then spins its turret by 30 degrees, then rotates up the barrel by 50 degrees, all body fixed rotations.

B) First the tank rolls by ? the slope, then rotates up the barrel by 50 degrees, and then spins its turret by 30 degrees. (Note: the unit vector should be the same)

Answer 1