Rigid Body Motions
Rotations and homogeneous transformations are examples of rigid body motions,
i.e., motions that preserve distance and angles. The first questions
explore this topic.

Solve problems 21, 22 and 23. These problems demonstrate
a few properties of rigid body transformations.
Properties of Rotation Matrices
These problems will explore in a bit more depth some
properties of rotation matrices
 Solve problems 24 and 25.
These problems investigate properties of the Special Orthogonal group of matrices.
You may restrict your attention to SO(3) for these problems (if that makes things
simpler to express).
 Solve problem 26. This problem merely demonstrates the intuitive
fact that successive rotations about a single access can be expressed in terms
of the sum of the two angular rotations.
 Solve problem 27. This problem establishes
that SO(n) is a group.
Homogeneous Transformations
 Solve problems 238, 239, 240 and 241. These problems illustrate the assignment
of coordinate frames in 3D, and the use of homogeneous transformations.
