Question: Use homogeneous coordinates for the following problem. Let R(a) denote the matrix that rotates (about the z axis) by angle a. Find an expression for

 Use homogeneous coordinates for the following problem.

Let R(a) denote the matrix that rotates (about the z axis) by angle a. Find an expression for R(a+b) and show that rotations commute; i.e., R(a)R(b) = R(b)R(a) = R(a+b).

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