[31] Develop a general formula to obtain T, where, starting from initial coincidence, {B} is rotated by θ about Kˆ where Kˆ passes through the point AP (not through the origin of {A} in general).
[34] {A} and {B} are frames differing only in orientation. {B} is attained as follows: starting coincident with {A}, {B} is rotated by θ radians about unit vector Kˆ —that is,
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