| # | Line 87 | Line 87 | $\mathsf{R}_\alpha$ is a quadratic approximation to th | |
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| 87 | \right. | |
| 88 | \end{equation} | |
| 89 | $\mathsf{R}_\alpha$ is a quadratic approximation to the single-axis | |
| 90 | < | rotation matrix. For example, in the small-angle limit, the |
| 90 | > | rotation matrix. For example, in small-angle limit, the |
| 91 | rotation matrix around the body-fixed x-axis can be approximated as | |
| 92 | \begin{equation} | |
| 93 | \mathsf{R}_x(\theta) \approx \left( | |
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