Whereas Chap. 7 covers the rotation of points about a fixed frame of reference, this chapter covers rotating frames of reference with fixed points. The chapter begins using matrix transforms for translated frames of reference, rotated frames of reference, and a combination of the two. It then describes direction cosines, and illustrates how multivectors are used to replicate the actions of matrix transforms. The chapter concludes with a summary and a list of the transforms covered.
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