Suppose the rotation of a rigid body is represented by the following pitch–roll– yaw Euler angles R_x(π/6),R_y(π/4), and R_z(π/4).

a. Find the corresponding rotation matrix A_RB.

b. Give the screw axis representation of the rotation, namely the equivalent angle of rotation θ and the components of the screw axis Aˆ s = [s_x s_y s_z]^T.

c. Give the equivalent w–u–w Euler angles for this rotation.

d. Give the equivalent w–v–u Euler angles that can represent this rotation.