(a) Show that if y12 + y22 + y23. + y42 = 1, then the matrix is...
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is a proper orthogonal matrix. The numbers y1, y2, y3, y4 are known as Cayley-Klein parameters.
(b) Write down a formula for Q-1.
(c) Prove the formulas
relating the Cayley-Klein parameters and the Euler angles of Exercise 5.3.4, [26. §4-5].
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