Coordinate Transformations pace Biomedical Engineerin Life Support Inverse transformation RX=R X +R Rx RR=I Since r is orthonormal -RX.+R X(only uses transpose of R, not inverse) Note also RR Example 1.1Coordinate Transformations • Inverse transformation T T o b T T bT o T T R R xRxRx R RIRR RxRxRxR = − +−= = += 1 ( ), :alsoNote usesonly transpose inversenotof issince orthonormal • Example 1.1