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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. Splines prevent shaft BC from rotating relative to the collar, so φ = 0, in which case the yz plane is always situated in the vertical plane. The system is rotated by ψ = 75° about the vertical axis; the value of θ is 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.
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