Myrl E. Beck; Rotations by spherical trigonometry. Geology ; 4 (4): 215–216. doi: https://doi.org/10.1130/0091-7613(1976)4<215:RBST>2.0.CO;2
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Rotation of directions or points on a sphere about an arbitrary axis is discussed in the context of simple spherical trigonometry. The resulting equations are suitable for programming on an electronic desk calculator.
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