/ Consider a homogeneous, rigid cube of side = 30 cm and density p t = 0 its attitude and angular velocity are: (0) = [50, 30, 60] deg, = 1000

kg/m³. Knowing that at 3/I (0) = [200, 30, 10] deg/s, 3/I create a SIMULINK model to find ⑱(t), (t) and B/T (t), for t = (0,60) s, knowing that the external toque acting on the cube is equal to: a) MB(t) = 102.[-6p(t), 0, -5r(t)] N. m, b) MB(t) = 102. [-5,0,0] N · m ₁₁ B/I 63 Б2 61 where p(t), q(t), and r(t) are the components of B/I (t). Fig.1 Cube's initial attitude and angular velocity. 12 • Comment on your results for both case a) and b) The kinematics must be written using the quaternions parametrization. Please include all plots in one figure (4-by-3 subplots). Submit your code and a screenshot of the plots.