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Is there a geometrical relation between the vectors of a 3x3 orthogonal matrix and it's inverse/transpose?

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    Yes this is what I was looking for. If M=Rx(a)*Ry(b)*Rz(c) then the inverse is M'=Rz(-c)*Ry(-b)*Rx(-a). This means that if you mirror the vectors agains yoz, then xoz, then xoy you get the inverse? Thanks2011-09-07

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