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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Central Force

Central force is the force that acts along the center of mass of one body to the center of mass of another body. Its direction from or away from a point on a body to another is called the center of the force. Such forces include gravitational force between two massive objects or electrostatic forces between two charged particles. So from atoms to planets, the central forces play an important role in shaping our daily lives. One of the remarkable features of central forces is that they are conservative, i.e. the total energy of a central force system can always be expressed as a gradient of a potential energy function.