See attached image. An engineer of robotics accidentally bumped their head while plotting the inevitable robot revolution. Please help them remember how to build the 'final coordinate frame' to direct their robot army...while avoiding their favourite puppy.
Given Zf, use the provided frame {W} axes to generate the missing axis of the final frame {f}.
a. What are the set of equations that define the axes of the final coordinate frame, only using {1} & {f}? Hint: One axis is parallel to the final coordinate frame.
b. What are the set of equations that define the axes of the final coordinate frame, only using {W} & {f}?
