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Euler Angle Formulas - Geometric Tools

2.1 Factor as R xR yR z Setting R= [r ij] for 0 i 2 and 0 j 2, formally multiplying R x( x)R y( y)R z( z), and equating yields 2 6 6 6 4 r 00 r 01 r 02 r 10 11 12 r 20 r 21 r 22 3 7 7 7 5 = 2 6 6 6 4 c yc z c ys s y c z s x s y + c x z x z x ys z y x c xc zs y + s xs z c zs x + c xs ys z c xc y 3 7 7 7 5 (6) The simplest term to work with is s

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