= U2V2W2 - U2(V • W)2 - V2(U • W)2 - W2(U • V)2
The following identity provides a means of writing the vector W in terms of U, V, andUxV, if UxV^O:
If A is a real orthogonal matrix,
where the positive sign holds if A is proper, and the negative sign if A is improper.
The tangent of the rotation angle from V to W about U (the angle of the rotation in the positive sense about U that takes VxU into a vector parallel to WxU) is
The quadrant of @ is given by the fact that the numerator is a positive constant multiplied by [email protected], and the denominator is the same positive constant multiplied by cos0. If U, V, and W are unit vectors, @ is the same as the rotation angle on the celestial sphere defined in Appendix A. Equation (C-95) is derived in Section 7.3. (See Eqs. (7-57).)
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