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Exercise 1.8.15
Answers
Every 3 by 3 matrix has 9 entries. So must have 9 parameters. There are 3 parameters in . Each of and shall have 3 parameters.
For 4 by 4 matrix, there are 4 parameters for , since , have the same shape, they have parameters each.
There are 3 parameters to describe a rotation in a 4-dimensional space. (TODO)