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Comparing a unimodular transformation to an arbitary rotation matrix was \
trivial. To do the same for an Euler angle rotation matrix and arbitrary \
matrix is less so because of sign differences. Here is a dumb symbol \
expansion of the full rotation on a general vector in Pauli matrix form to \
have a look at the two results and see if there is anything striking. Ans.: \
no, there is not. Both expressions are messy even after FullSimplify. Was \
able to extract some structure from the Euler rotation method by avoiding \
full expansion, and then factoring out terms of x,y,z. However, really want \
to factor out the vector that is uneffected by the rotation (to determine the \
normal direction), and then figure out the rotation applied to the remainder.\
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