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Rotation matrix - BrainMaster Technologies Inc.

Aug 04, 2011 · Given a unit vector u = (ux, uy, uz), where ux 2 + u y 2 + u z 2 = 1, the matrix for a rotation by an angle of θ about an axis in the direction of u is This can be written more concisely as where is the cross product matrix of u, ⊗ is the tensor product and I is the Identity matrix. This is a matrix form of

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