The current prices on one-year, two-year, and three-year $10,000$ zero-coupon bonds are $9765$, $9428$, and $8986.82$, respectively. Find forward rates $f[0,2]$ and $f[2,3]$ implied by these prices.
This question is from Mathematical Interest Theory Second Edition section $8.3$ #$1$, and the answer provided is $f[0,2]=2.98885\%$ and $f[2,3]=4.90919\%$
I understand the relationship between spot rates and forward rates, however I am unsure how to find the forward rate just given these current prices. Is there a way to find the spot rate from these prices given in order to convert them into the forward rates? Any help would be appreciated, thank you!