determine kinematics of final effector

The purpose of this exercise is to determine the kinematics.
of the final effector (point P) using the concept of
transformation of rigid bodies in the plane
Comments:
Deliver your solution either as a Jupyter/Colab notebook or as a pdf/image of the writing to the
hand on a sheet of notebook, whatever.
Be careful when choosing angles to define the rotation matrices. Remember you can check
if the calculations are correct comparing with the deduction by trigonometry of the kinematic chain.