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| Mathblock |
|---|
^AR^B_{X' Y' Z'} ( \alpha, \beta, \gamma) = \left[
\begin{array}{ccc}
c \beta c \gamma & - c \beta s \gamma & s \beta \\
s \alpha s \beta c \gamma + c \alpha s \gamma & - s \alpha s \beta s \gamma + c \alpha c \gamma & - s \alpha c \beta \\
- c \alpha s \beta c \gamma + s \alpha s \gamma & c \alpha s \beta s \gamma + s \alpha c \gamma & c \alpha c \beta
\end{array}
\right] |
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