Write down the 4 x 4 rotation matrix that takes the orthonormal 3D vectors u (Xu, Yu, Zu), V = (xv, Yv, zv), and w = (xw, yw, Zw), to orthonormal 3D vectors a = (xa, ya, za), b Mu= a, Mv= b, and Mw= = C. (xb, yb, zb), and c (2c,c, ~c), So *** =

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