1. 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.

2. 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

3. 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

4. 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

5. Problem 3.11(5)
The following are given:

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

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

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

9. Problem 3.11(5)

10. Problem 3.11(10)
With
Before
rotation

11. Problem 3.11(10)
With
After
rotation

12. Problem 3.11(10)

13. Problem 3.11(10)
Story so far ….
Therefore

14. Problem 3.11(10)
Using
No translation along screw axis

15. Problem 3.11(10)