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Nov 21, 2023 at 23:40 vote accept WhatsUp
Nov 21, 2023 at 14:40 comment added David E Speyer Got it. That makes sense; that's the case where $(p_1, q_1, r_1)$ and $(p_2, q_2, r_3)$ are orthogonal (they are the axes of the rotation) so $(\ast)$ turns into $\cos \theta_3 = \cos \theta_1 \cos \theta_2$.
Nov 21, 2023 at 14:24 comment added WhatsUp Thanks for the solution. I was too sketchy on the background: I want two rotations to have $x$ and $y$ axis as axis respectively.
Nov 21, 2023 at 13:51 history answered David E Speyer CC BY-SA 4.0