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Rotations and the Euler angles 1 Rotations

Rotations and the Euler angles 1 Rotations

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leading to the rather ugly general formula: Rˆ(φ,θ,ψ) = cosψcosφ−cosθsinψsinφ −sinψcosφ−cosθsinφcosψ sinθsinφ cosψsinφ+cosθcosφsinψ …

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