PDF-Usetheelementaryrotationtransformationstorotatethevectoruntilitcoinci
wherearctanxv
zvandthenuseanxaxisrotationofRxtorotatethevectoruntilitcoincideswiththezaxis
2
wherearctanyv
p
x2vz2vThenusean rotationaboutthezaxisRz Userotationsandtranslationsto
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