This is about Euler angles based on Z-Y -Z axes. (a) Find the rotation matrix to represent the rotation represented by Euler angles, α, β, and γ based on the Z-Y -Z axes. (b) Explain how to find α, β, and γ of Euler angles based on the Z-Y -Z axes from rotation matrix R. (c) Find the axis of rotation sˆ and the rotation angle of a single turn, θ, that would result in the same configuration.

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