5. In 3D, a coordinate frame {A} is described with respect to coordinate frame {W} as rotated around zw by180 degrees and translated along yw by 10 units. (12 points) a) Determine the homogeneous transformation matrix T in 3D. b) If a point p is represented with respect of {A} as ªp = (3,2,1), determine the point "p.

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