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solutions (x,y,z,t) fill a 3D “plane” in 4 dimensions. It could be called a hyperplane. 15 (a) I = 1 0 0 1 “identity” (b) P 0 1 1 0 “permutation” 16 90 rotation from R= 0 1 −1 0 , 180 2 = −1 0 0 −1 −I. 17 P = 0 1 0 0 0 1 1 0 0 produces y z x and Q 0 0 1 1 0 0 0 1 0 recovers x y z . Q is the inverse of P. Later we write QP ...

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