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- m0=eye(3)
- rotatem =@(theta) [cos(theta) -sin(theta) 0;
- sin(theta) cos(theta) 0;
- 0 0 1]
- scalem = [1 0 0;
- 0 -1 0;
- 0 0 1]
- syms t
- an = rotatem(t) * scalem * rotatem(t)
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