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15.6: Orthogonal Matrices
https://chem.libretexts.org/Bookshelves/Physical_and_Theoretical_Chemistry_Textbook_Maps/Mathematical_Methods_in_Chemistry_(Levitus)/15%3A_Matrices/15.06%3A_Orthogonal_Matrices
A nonsingular matrix is called orthogonal when its inverse is equal to its transpose.

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