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The sense of the rotation will be thus denoted;ADA′ andA′DA representing equal and opposite rotations.
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Burnside, W. On the four rotations which displace one orthogonal system of axes into another. Acta Math. 25, 291–295 (1902). https://doi.org/10.1007/BF02419028
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DOI: https://doi.org/10.1007/BF02419028