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Unformatted text preview: Let us also work out the matrices that implement the rotations of the tetrahedron. First we need to gure out how to write the matrix for a rotation through an angle about the axis determined by a unit vector O v . Of course, there are two possible such rotations, which are inverses of each other; lets agree to nd the one determined by the righthand rule, as in Figure 4.1.4 on the next page ....
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- Fall '08