3. Consider frames {0}, {1} and {2} shown below. Assume that no rotation is allowed around Y axis and the maximum angle each axis can rotate at each time is 90

degrees. a. Find the homogeneous transformation matrices ⓇH, and¹H₂. b. Find H, using the relationship: "H₂="H,¹H₂. Z₁4 1m 1m Z₁ Z₂ Assume positive or negative rotations about the axes. You must write the transformation equations.