Three-Dimensional Rotation Matrices
the rotation axis nˆ (up to an overall sign) and the rotation angle θ that characterize a general three-dimensional rotation matrix.4 3Eq. (8) is a special case of a more general result given by eq. (72), which is proved in Appendix B. 4An explicit form for the matrix P is obtained in eq. (80) in Appendix B. 2
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