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Rules for Composition of Rotational Transformations Given a fred fume @.reym and g cattae fame oer, seat veh teats mm RE tly thn 16 bd ae pine retin elit che alibaiad, Lash A", ‘ oR ae RERL (2.21) UF abe ot eet be ie iy beth nfs ine this rststin, Therefine Me We rape “Che tehetn YR, we RR by RE bfain = RR (2.22) Qa) #~ (2.22) lon BLL epltier Exon 2.0 R= RuiReeRao Rag Rye C22) 2S Parameterizetiny f Retbiny Y elenaces iy) in & pioant Whebnt emsfimbn RE SC) are nok indeperdene qarndtes Ly staan vik © ihlaradere eginten aris 4,56 Slaps Farid Mase # finy 22 04) Sys Fe tepheiet da arbitrary Refi usy only 0 Alera dart penn oon arb eS se 7S FE BO0 hs SESTESSAI y-ray LOGS TONES poston 2.5.1 Enter Angles 1b Coninen MES of Speck, rotten bnetry tema tS Adepedor’ goes Raz = Rag hyo Rey ~[% se “| Fogo sy Fe fom ( (Sis 1] SFiS bee CS =(oP% | -sp | cose 7 Cy “wo | = ch | sp [[ % ae “el olce JLo otf a [ Cet ~Sp.H | Cocos -Socy c#% Saco + Cosy [-Seytoy | S955 2 = Lf Fo | L 7 =Se Gp FSo Sy fT ¢ Probl, > Dotemng RCI) Che Set ot Babe aajha é Ssluin © brea ie doun inl 2 cass AL Ne€ beth hy ,Fray = © Se S40 Jo nt equ. (2. hence Par, baa $ O Shertre Pott 1 | cg=hy ~t/i-re 7” “$27 G8 a1 SH2o- ay S6=| os ay parore hee fo os Aer (hs, [S) oar oe Ad, a(t, /Fs? ) 2 Acton Ain 215 Cae wore uth egut. 2a¢ ge Man 2C rs jn) Y Ain? (-ri yma) nd Sy <0 with e4¢. 2-29 = An C-fia yohis) = Ay pe) the Mt Mashye? Ris oFboyel ap Che Aye!

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