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## Axis and Angel of Rotation |

A B C D E F G H I J K L M N O P Q R S T U V W X Y Z | overview |

A rotation in has an axis of rotation, i.e. fixes an unit vector , and corresponds to a plane rotation by an angle in the plane orthogonal to .

With respect to an orthonormal right-handed coordinate system , the matrix representation of is given by:

(Authors: Höllig/Reble/Höfert)

**Example:**

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automatically generated 1/12/2007 |