Example 4.7. 4-20 Show that
B(\alpha )
given by Equation (4.103) is invertible provided
s_(\theta )!=0
.
\omega =[[c_(\psi )s_(\theta ),-s_(\psi ),0],[s_(\psi )s_(\theta ),c_(\psi ),0],[c_(\theta ),0,1]][[\phi ^(?)],[\theta ^(?)],[\psi ^(?)]]=B(\alpha )\alpha ^(?)
(4.103)