Consider the following sequence of rotations
a. Rotate by −90° about the word/fixed or current x-axis
b. Rotate by 90° about the current z-axis
c. Rotate by −90° about the word/fixed z-axis
d. Rotate by 90° about the current y-axis
e. Rotate by −90° about the word/fixed x-axis

Find the rotation matrix R⁵₀ representing the overall transformation (i.e., describes the orientation of end-result/frame-(oxyz)s w.r.t. base/world frame (oxyz)₀)