Let a R3 be a fixed vector and let Q be any 3 3 rotation matrix such that Qa e3 (a) Show that, using the notation of (7 23), R QT Z Q represents rotation around a by angle (b) Verify this formula in the case a e2 by comparing with (7 24)

Question: Let a R3 be a fixed vector and let Q be any 3 3 rotation matrix such that Qa = e3. (a) Show

Let a ∈ R3 be a fixed vector and let Q be any 3 × 3 rotation matrix such that Qa = e3.
(a) Show that, using the notation of (7.23), Rθ = QT Zθ Q represents rotation around a by angle θ.
(b) Verify this formula in the case a = e2 by comparing with (7.24).

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