Hello! I need to find the rotation matrix around a given vector v=(a,b,c), by and angle ##\theta##. I can find an orthonormal basis of the plane perpendicular to v but how can I compute the matrix from this? I think I can do it by brute force, rewriting the orthonormal basis rotated by ##\theta## and doing some matrix multiplications, but is there a more clever and fast way to do it?(adsbygoogle = window.adsbygoogle || []).push({});

Thank you!

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# I Rotation matrix in 3x3

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