Question: 9 12 20 7. Amazingly enough, the matrix Q = i 20 15 O is orthogonal and has 1 2 1 6 1 5 determinant

9 12 20 7. Amazingly enough, the matrix Q = i 20 15 O is orthogonal and has 1 2 1 6 1 5 determinant 1, so it is the standard matrix of a rotation in R3. (It's amazing because complicated orthogonal matrices usually contain a lot of square roots.) Find a vector that points along the axis of rotation, and the rotation angle

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