Determine the translation matrices,rotation and transformation for each of the three coordinate systems

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.
Therefore:
a) Determine the translation matrices,
rotation and transformation for each of the three
coordinate systems (base 0 and ends of the
links 1 and 2, shown by axes xiyi, i=0, 1, 2) in
relative to the segment coordinate system
previous (based on global XY, link 1 in
to base, link 2 to link 1).
b) Determine the position of the final effector in the
global coordinate system from matrices
deducted in the previous item.
c) Determine the Jacobian of this string
kinematics and the velocity of the final effector from the
Jacobian.

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.