The Scenario: We have a frame 1 and a frame 0. The frame 0 is rotated in some manner, but not translated so their share an point of origin. I have 3 angles between different axes of the different frames. I am suppose to describe the orientation of frame 0 in frame 1 with an 3x3 rotation matrix. I want to solve for the other 6 parameters in the Rotation Matrix. Hint: you can get 9 parameters from only having 3 parameters of the 3x3 rotational matrix. Solutions: - I believe that when the angles of the rows or columns in each rotation matrix must follow this equation since it the matrix is based off of an axis of one from projected onto each of the other ones. : (cos(a))^2 + (cos(b))^2 + (cos(c))^2 = 1 - Also: R = Rotational Matrix RT = Transpose of Rotational Matrix I = Identity Matrix R*RT = I I can create equations using this and solve for different parameters... Are these valid claims? And will they get my answer?