Rodrigues’ rotation formula: Difference between revisions
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→{{header|Factor}}: simplify
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x y t * * z sa * + ca y y t * * + y z t * * x sa * -
z x t * * y sa * - z y t * * x sa * + ca z z t * * +
9 narray 3 group
{ 5 -6 4 } { 8 5 -30 }
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