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# Collar A is welded to the vertical shaft so θ is constant The rectangular plate is welded to this shaft and xyz is a coordinate system that is attached to the plate Shaft BC may rotate relative to

Collar A is welded to the vertical shaft, so θ is constant. The rectangular plate is welded to this shaft, and xyz is a coordinate system that is attached to the plate. Shaft BC may rotate relative to the collar by angle φ, with φ = 0 when the yz plane coincides with the vertical plane, as depicted in the sketch. Starting from the illustrated position the system is rotated by ψ = 75° about the vertical axis, and φ = 115°, with θ = 30°. Determine the rotation transformation from relating components relative to the initial and final xyz coordinate system. From this result determine the angle between the initial and final orientations of the y axis.

Jun 16 2020 View more View Less