(b) Calculate the set of Euler angles corresponding to the rotation matrix:38YY438where θ ∈ [0, π], φ ∈ [0, 2π] and ψ ∈ [0, 2π].(c) Show that the direction of the corresponding axis of rotation is given by the vector:3 - 2√2 - √3 √3(d) Determine the angle of rotation θ for the rotation matrix defined in part (b).(e) The angular velocity of the rigid body is defined by the vector:W1i w2j w3k.Obtain an expression for this angular velocity in terms of the Euler angles θ, φ,

Easily Control Vector Direction With Standard Euler Rotations