Qubit mixed state density matrix coordinates on a Bloch ball

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maxverywell
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What are the coordinates on the 3D Bloch ball of a qubit's mixed state of the form:
##\rho=p_{00}|0\rangle \langle 0|+p_{01}|0\rangle \langle 1|+p_{10}|1\rangle \langle 0|+p_{11}|1\rangle \langle 1|##

451px-Bloch_sphere.svg.png
 
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