PROBLEM SET 2 Do problem 1 of “section 3.11: Exercises” in page 50 of text. Do problem 5 of “section 3.11: Exercises” in page 51 of text. Do problem 10 of “section 3.11: Exercises” in page 51 of text.

Problem 3.11(1) Problem 1: Find R(x,): a rotation of  radians about [1, 0, 0]T Solution: where This is a rotation about the X-axis

Problem 3.11(1) Problem 1: Find R(y,): a rotation of  radians about [0, 1, 0]T Solution: where This is a rotation about the Y-axis

Problem 3.11(1) Problem 1: Find R(z,): a rotation of  radians about [0, 0, 1]T Solution: where This is a rotation about the Z-axis

Problem 3.11(5) The following are given:

Problem 3.11(5) The axis of rotation is the eigenvector of R corresponding to =1

Problem 3.11(5) Multiply 3rd eqn by -5 and add it to 1st eqn to eliminate

Problem 3.11(5) Divide 2nd eqn by and simplify using the known result:

Problem 3.11(5)

Problem 3.11(10) With Before rotation

Problem 3.11(10) With After rotation

Problem 3.11(10)

Problem 3.11(10) Story so far …. Therefore

Problem 3.11(10) Using No translation along screw axis

Problem 3.11(10)