Let a R3 be a fixed vector and let Q be any 3 3 rotation
Question:
(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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a In the formula for R the first factor rotates to align a with the ...View the full answer
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