The coordinate Xỉ system is obtained by rotating the system Xi about the X3 axis through an angle in the sense of the right handed screw. Find the transformation matrix. If a point P has coordinates (1, 1, 1) in the Xi system, find its coordinates in the X¡' system. If a point Q has coordinates (1, 1, 1) in the Xi' system, find its coordinates in the Xi system.

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