Referring to Exercise 21, show that two nonzero vectors, v1 and v2, in 3-space are perpendicular if

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Referring to Exercise 21, show that two nonzero vectors, v1 and v2, in 3-space are perpendicular if and only if their direction cosines satisfy
cos α1 cos α2 + cos β1 cos β2 + cos γ1 cos γ2 = 0
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