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3. Obtain the rotation matrix, which converts base Js coordinates into base Is coordinates (RJ), for the following cases: a

3. Obtain the rotation matrix, which converts base J's coordinates into base I's coordinates (RJ), for the following cases: a. Jo Jx Io b. 1.
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Answer #1

Rotation Matrix can be given as ...

R(9)_|cos(θ) -sin(0)

a. Here theta in this case, Angle between Jx and Ix is 270 degree.

R(270cos(270) -sin(270) sin (270) cos(270) 110

b. Here theta in this case, Angle between Jx and Ix is 180 degree.

R(1So)cos(180) -sin(180) sin(180) cos(180) COS -1 0 0

c. Here theta in this case, Angle between Jx and Ix is θ degree.

cos(θ) -sin(θ) R3(0) =İsim@) cos(0) sn(θ) cos(θ

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