Unformatted text preview: Let us also work out the matrices that implement the rotations of the tetrahedron. First we need to ﬁgure 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; let’s agree to ﬁnd the one determined by the “right–hand rule,” as in Figure 4.1.4 on the next page ....
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 Fall '08
 EVERAGE
 Algebra, Tetrahedron, rotations, Threefold axis, possible such rotations

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