. Now we are interested in obtaining
from
using a rigid body rotation of 
. We are
also interested to relate the
unit vectors 
in 
from that of 
2B11 Transformation Matrix Between Two Coordinate Systems
. Now we are interested in obtaining
from
using a rigid body rotation of . We are
also interested to relate the
unit vectors
in
from that of 
We
see that 
is the transformation given by
We
note that for
, 
is an orthogonal matrix
(e.g.)
For example,
