orthonormal 3D vectors

Algebra & Trigonometry with Analytic Geometry
13th Edition
ISBN:9781133382119
Author:Swokowski
Publisher:Swokowski
Chapter8: Applications Of Trigonometry
Section8.3: Vectors
Problem 11E
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Write down the 4 × 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 = (xb, yb, zb), and c = (xc, yc, zc), So Mu = a, Mv = b, and Mw = c.

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