Chapter 4.2, Problem 11E

Determine the matrix representation of each of the following composite transformations.
(a) A yaw of $90°$ , followed by a pitch of $90°$ .
(b) A pitch of $90°$ , followed by a yaw of $90°$ .
(c) A pitch of $45°$ , followed by a roll of $-90°$ .
(d) A roll of $-90°$ , followed by a pitch of $45°$ .
(e) A yaw of $45°$ , followed by a pitch of $-90°$ and then a roll of $-45°$ .
(f) A roll of $-45°$ , followed by a pitch of $-90°$ and then a yaw of $45°$