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First recall that the matrix corresponding to a rotation by an angle @ is given by Ri= cos(0) -sin(0) 1 sin(0) cos(0) ] 0 as

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Conn - lino Rot siue como Q = - My Tof(%) - fin (7) 7. (sin (- /) cos(-9%)) Ac Roy, Open B JUDJE Totsa 2 jaro o-12 252 to 2

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