URL details: bcwells.net/articles/rotation.html

URL title: Derivation of the 2-D Rotation Matrix
URL paragraphs: \(\newcommand{\mat}[1]{\mathbf{#1}}\) \(\renewcommand{\vec}[1]{\mathbf{#1}}\) \(\newcommand{\e}[1]{\mathbf{e}_{#1}}\) This document is an extended example for using this literate program . It should be available in both HTML and PDF versions, as well as th
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