A body coordinate frame B(oxyz), that is orginally coincident with global coordinate frame G(OXYZ), rotates 45 degrees about the x-axis, and then the origin of the body feame translates to (X,Y,Z) = (2,2,0).

a) What is the homogeneous transformation matrix GTB
b) What is the matrix representation of the global position Gr, given Br= [x,y,z]T
c) Given the cubic in the figure below woth edge length pf 1, what are the global coordinates of corner points F, G, and H after the transformation?

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A body coordinate frame B(oxyz), that is orginally coincident with global coordinate frame G(OXYZ), rotates 45 degrees about the x-axis, and then the origin of the body feame translates to (X,Y,Z) = (2,2,0).

a) What is the homogeneous transformation matrix GTB

b) What is the matrix representation of the global position Gr, given Br= [x,y,z]T

c) Given the cubic in the figure below woth edge length pf 1, what are the global coordinates of corner points F, G, and H after the transformation?

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