Up until now we have learned that a rotation in R3 about an axis through the origin can be represented by a 3×3 orthogonal matrix with determinant 1. However, the matrix representation seems redundant because only four of its nine elements are independent. Also the geometric interpretation of such a matrix is not clear until we carry out several steps of calculation to extract the rotation axis and angle. Furthermore, to compose two rotations, we need to compute the product of the two… CONTINUE READING