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Problem 1. The frame {b} in Fig. 1 is obtained by rotation from an initial orientation aligned
with the fixed frame {s} about a unit axis ô = (0,0.866, 0.5) by an angle 0 = 30° =
0.524 rad/s. Then, calculate the rotation matrix representation of frame {b}.
(Hint. Use the Rodrigues' formula.)
Îs
0 = 30°
{s}
{b}
Ys
Fig. 1. Frame {s} and frame {b}.

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