A vector Ap is rotated about ZA by 9 degrees and is subsequently rotated about XA by degrees. Give the rotation matrix that accomplishes these rotations in the given order. 2.2 [15] A vector Ap is rotated about by 30 degrees and is subsequently rotated about XA by 45 degrees. Give the rotation matrix that accomplishes these rotations in the given order. 2.3 [16] A frame {B} is located initially coincident with a frame {A}. We rotate {B} about ZB by 9 degrees, and then we rotate the resulting frame about XB by 0 degrees. Give the rotation matrix that will change the descriptions of vectors from Bp to Ap