Suppose we have a coordinate system A that can be mapped to coordinate system B in two steps: 1) Rotate π/2 around Z axes; 2) Rotate π around new Y axes.
Note: The rotation follows right hand rule.
(1). Give the 3x3 rotation that carries out this mapping.
(2). Given a point whose coordinate is [10, 10, 20] in A, calculate its coordinates B.