If the rigid body rotates 30deg about the global X-axis and the origin of the body translates to (X, Y, Z)=(500, 0 600), the final point in the Global frame is (500 -100, 773.2). Find the origin position (x1, y1, z1) in the body coordinate frame by using the inverse 4X4 matrix.

College Physics
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ISBN:9781305952300
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Chapter1: Units, Trigonometry. And Vectors
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If the rigid body rotates 30deg about the global X-axis and the origin of the body translates to (X, Y, Z)=(500, 0 600), the final point in the Global frame is (500 -100, 773.2). Find the origin position (x1, y1, z1) in the body coordinate frame by using the inverse 4X4 matrix. 

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