"forward kinematic equations" refers to the equation relating the joint variables to the homogenous transformation matrix corresponding to the position and orientation of the end effector. For instance: T(theta1,theta2,d3) = [ 4x4 matrix ].
You will find Robotica quite helpful for these problems.
Your solution to each problem should include:
(a) figure of the robot with DH frames assigned and joint variables theta or d identified
(b) table of DH parameters
(c) the forward kinematic equation, T(joint variables) = T[0,n].
Robotica will generate all the A and T matrices for you, but I am only interested in the T matrix relating the base frame to the end effector frame, T[0,n]. Please display only this matrix. Consult the "crash course" for Mathematica and Robotica on the website and employ the commands to simplify and display large, complicated matrices.