Assume the eigenvectors for an undamped two degree of freedom system subject to free vibrations are given by: x_1 = {a_1 2a_1} and x_2 = {a_2 - 4a_2} If the equations of motion are described through the following matrix form: [M] x + [k]x = 0 where, inertia and stiffness matrices are given as follow: [M] = [3 0 0 1] and [k] = [25 -3 -3 3] Then: a) Calculate the first and second orthonormal eigenvectors. b) Form the matrix of orthonormal eigenvectors and find its transpose. c) Transform the equations of motion to an uncoupled form.