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NRICH Secondary Topics Geometry-Euclidean Properties of Shapes Rotations...
http://www.nrich.maths.org.uk/topic_tree/Geometry-Euclidean/Properties_of_S
Rotations...
http://waugh.cchem.berkeley.edu/blochlib/single.php?classes=33
Maths - Rotations - Martin Baker...
http://www.euclideanspace.com/maths/geometry/rotations/
Practical Parameterization of Rotations Using the Exponential Map ...
http://www.cs.cmu.edu/~spiff/moedit99/expmap.pdf
Useful Notes for the Rotation Group ...
http://panda.unm.edu/courses/finley/p570/Handouts/rotations.pdf
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