- #1

santos2015

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Given two orthonormal frames of vectors ##(\bf n1,n2,n3)## and ##(\bf n'1,n'2,n'3)## we can form two matrices ##N= (\bf n1,n2,n3)## and ##N' =(\bf n'1,n'2,n'3)##. In the case of a rigid body, where the two frames are related via rotations and translations only, we can can calculate the rotation matrix between the two frames as:

##R = N' N^{T} ##.

My linear algebra is quite rusty and I am having some trouble understanding why this is true. Thanks for looking.