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@@ -151,20 +151,23 @@ $$
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\\begin{matrix}
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X\\\\
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Y
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1
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\\end{1}
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\\right ]
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=
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\\left [
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\\begin{matrix}
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cos(a) & -sin(a) \\\\
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sin(a) & cos(a)
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cos(a) & -sin(a) & 0 \\\\
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sin(a) & cos(a) & 0 \\\\
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0 & 0 & 1
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\\end{1}
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\\right ]
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.
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\\left [
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\\begin{matrix}
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x\\\\
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y
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x_0\\\\
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y_0\\\\
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1
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\\end{1}
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\\right ]
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$$)
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