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Q. 3-d rotations - Consider the matrix:

[tex]

A\left( \theta \right) = \left[ {\begin{array}{*{20}c}

{\cos \theta } & { - \sin \theta } & 0 \\

{\sin \theta } & {\cos \theta } & 0 \\

0 & 0 & 1 \\

\end{array}} \right]

[/tex]

a) Evaluate det(A(theta)).

b) Interpret geometrically the effect of multiplying a vector by A(theta).

c) Show that [tex]A\left( \theta \right)A\left( \phi \right) = A\left( {\theta + \phi } \right)[/tex] and interpret this result.

d) Use the previous part to find the inverse of A(theta). How does this compare with the transpose A(theta)^T - the transpose of A(theta).

The answer to part 'a' is 1 which wasn't all that difficult to get. I'm not sure about part b. Ignoring the 3 row and 3rd column I have a 2 by 2 matrix which represents a rotation through an angle of theta in the anti-clockwise direction (in the x-y plane) but I'm not sure how to ineterpret the given 3 by 3 matrix.

I could show the result of part 'c' but again, I don't know how to interpret the result. I think that it might just be the application of A(phi) followed by A(theta).

I have no idea as to how to part 'd.'

Any help would be good thanks.