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# Determine if the relationship T(dx, dy, dz)*R(v*ϴ)= R(v*ϴ)* T(dx, dy, dz) is true

1 0 0 𝑑𝑥
0 1 0 𝑑𝑦
𝑇(𝑑𝑥 , 𝑑𝑦 , 𝑑𝑧 ) = [ ]
0 0 1 𝑑𝑧
0 0 0 1

𝑟 𝑟22 𝑟23 0
𝑅(𝜐, 𝜃) = [ 21 ]
𝑟31 𝑟32 𝑟33 0
0 0 0 1

## 1 0 0 𝑑𝑥 𝑟11 𝑟12 𝑟13 0 𝑟11 𝑟12 𝑟13 0

0 1 0 𝑑𝑦 𝑟21 𝑟22 𝑟23 0 𝑟21 𝑟22 𝑟23 0
𝑇(𝑑𝑥 , 𝑑𝑦 , 𝑑𝑧 ) ∗ 𝑅(𝜐, 𝜃) = [ ][ ]=[ ]
0 0 1 𝑑𝑧 𝑟31 𝑟32 𝑟33 0 𝑟31 𝑟32 𝑟33 0
0 0 0 1 0 0 0 1 0 0 0 1

## 𝑟11 𝑟12 𝑟13 0 1 0 0 𝑑𝑥 𝑟11 𝑟12 𝑟13 𝑑𝑥 𝑟11 + 𝑑𝑦 𝑟12 + 𝑑𝑧 𝑟13

𝑟21 𝑟22 𝑟23 0 0 1 0 𝑑𝑦 𝑟21 𝑟22 𝑟23 𝑑𝑥 𝑟21 + 𝑑𝑦 𝑟22 + 𝑑𝑧 𝑟23
𝑅(𝜐, 𝜃) ∗ 𝑇(𝑑𝑥 , 𝑑𝑦 , 𝑑𝑧 ) = [ ][ ]=
𝑟31 𝑟32 𝑟33 0 0 0 1 𝑑𝑧 𝑟31 𝑟32 𝑟33 𝑑𝑥 𝑟31 + 𝑑𝑦 𝑟32 + 𝑑𝑧 𝑟33
0 0 0 1 0 0 0 1 [0 0 0 1 ]

The two resultant matrices are different among them, so the relationship is false.

## d)Determine if the implementation of a sequence of transformations applied

from left-to-right is equivalent when applied from right-to-left
No, as proved before the matrix doesn’t have a commutative property, so when two
or more matrix are multiplied, the order of multiplication defines the final
transformation. If the results are the same when applied from left to right and from
right to left, the transformations are equivalent.