Consider three Frames Q, R, S. Frame R is achieved by rotating Frame Q30 degrees about its i-axis. Frame Sis achieved by rotating Frame R 50 degrees about its k-axis. a. What is the rotation matrix to convert from Frame Q to Frame S? b. What is the rotation matrix to convert from Frame Sto Frame Q? c. Consider a vector expressed in Frame Q. Express the vector in Frame S. v = i + j - 2k d. Take your answer from (c) and show that you can convert back to Frame A using the rotation matrix in (b).