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Rank and nullity of a 3D rotation matrix

Question

Let RR be the 3×33\times3 matrix obtained by composing counter-clockwise rotations through α\alpha radians about the xx-axis, β\beta radians about the yy-axis and γ\gamma radians about the zz-axis. Whatever the angles, what is (rank⁡R)2+(null⁡R)2(\operatorname{rank}R)^2+(\operatorname{null}R)^2?

Short answer

99. Rotations preserve length, so only the zero vector maps to zero: the nullity is 00 and the rank is 33, giving 9+0=99+0=9.

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