6. Write a function EXPCR ( ) which accepts a 3 x 1 vector x = [x1, x2, x3]1. The function should return the 3 x 3 rotation matrix which represents a rigid-body rotation of angle ||x|| radians about...

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Extracted text: 6. Write a function EXPCR ( ) which accepts a 3 x 1 vector x = [x1, x2, x3]1. The function should return the 3 x 3 rotation matrix which represents a rigid-body rotation of angle ||x|| radians about the fixed axis n = x/||x||. Your function should use SKEW3( ) and Rodrigues' formula (FYI, using the built-in function EXPM() will be the same). Note that when using Rodrigues' formula, your code has to be general enough to include all possible x's.