Problem 4.

(20pt)

MatLab Code:
iprime=[6.6637;289.1164;-407.8815]
jprime=[497.7939;17.4497;43.5513]
dot(iprime,jprime)
kprime=cross(iprime,jprime) %k'=i'xj'
i=[1;0;0];
j=[0;1;0];
k=[0;0;1];
C=[dot(iprime,i),dot(iprime,j),dot(iprime,k);...%rotation matrix
dot(jprime,i),dot(jprime,j),dot(jprime,k);...
dot(kprime,i),dot(kprime,j),dot(kprime,k)]
phi=atand((C(2,3))/(C(3,3)))
theta=asind(-C(1,3))
psi=atand((C(1,2))/(C(1,1)))

Results:
Rotation Matrix:

Euler Angles: