What constraints must a 3D rotation matrix satisfy to preserve vector length?

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what constraints must the elements of three dimensional rotation matrix satisfy in order to preserve length of vector A
 
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Here's a start:
your question expressed symbolically...
[tex]{\vec A'}^\top\vec A'=(R\vec A)^\top(R\vec A)=\vec A^\top\vec A[/tex]

So, what must [tex]R[/tex] satisfy? Can you do matrix algebra?