Consider an arbitrary coordinate frame {A}. Consider another coordinate frame {B} which has the same origin as {A} but is rotated by -90degrees about the y-axis of frame {A}. Write the SO(3) rotation matrix that will transform the coordinates of a point, defined with respect to {B}, to the coordinates with respect to {A}.
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You should think about having an input variable rather than describing it as only -90 degrees in the description.
Easy to do, what's your reasoning?