Problem 2 (Composite Homogeneous Transformation): Suppose H is defined by the following sequence of basic transformations in the order specified. Find the composite homogeneous transformation H, showing details of each individual matrix. 1) A translation of a about the current x-axis 2) A rotation of ẞ about the fixed y-axis 3) A translation of b about the fixed y-axis 4) A rotation of y about the current z-axis

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