(a) We have, $A(\alpha,\beta)^{- 1} = \frac{1}{e^{\beta}}\begin{bmatrix} e^{\beta}\cos\alpha & - e^{\beta}\sin\alpha & 0 \\ e^{\beta}\sin\alpha & e^{\beta}\cos\alpha & 0 \\ 0 & 0 & 1 \end{bmatrix}$ $= A( - \alpha, - \beta)$
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