3D Transformations

Question

Suppose a pirate ship P starts at the dock at point D, turns 45° to the northeast and travels forwards 1000m

What is the matrix 𝑀𝑃→𝐷 representing the ship’s final coordinate frame relative to the dock, expressed as a product of simple 3D transformations (T, Rx, Ry, Rz, S)? 

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