# Question: frame a and frame b are initially aligned frame b...

###### Question details

Frame A and frame B are initially aligned. Frame B experiences the following transformations (each transformation is w.r.t. the current frame):

1) Rotate about y-axis by 90°

2) Translate along z-axis by -5 unit

3) Rotate about x-axis by -45°

a) Find the transformation matrix relating the Frame B and Frame A after above transformations;

b) A point W attached to Frame B expressed in Frame B as [4,5,6], find the expression of point W in frame A;