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The final matrix in the "Rotation Matrices" section corresonds to "ZYX" ordering, as per page A-11 of the NASA memo in the references;
I've verified that the expression for the quaternion conforms to the same convention. <span style="font-size: smaller;" class="autosigned">— Preceding [[Wikipedia:Signatures|unsigned]] comment added by [[Special:Contributions/50.76.20.17|50.76.20.17]] ([[User talk:50.76.20.17|talk]]) 22:12, 14 January 2014 (UTC)</span><!-- Template:Unsigned IP --> <!--Autosigned by SineBot-->
== Matrices and handedness ==
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