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# Orthogonally diagonalize the rotation matrix Cosa SINTO Ro = ( sina cosa ) where a is not a multiple of t .

Orthogonally diagonalize the rotation matrix

where is alpha not a multiple of pi. Note, that you will get complex eigenvalues in this case.

2 . 10 . Orthogonally diagonalize the rotation matrixCosa SINTORo = ( sina cosa )where a is not a multiple of t . Note that you will get complex eigenvalues in thiscase