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axis therefore corresponds to an eigenvector of the rotation matrix associated with an eigenvalue of 1. As long as the rotation angle is nonzero (i.e., the rotation is not the identity tensor), there is one and only one such direction. Because A has only real components, there is at least one real eigenvalue, and the remaining two eigenvalues must be complex conjugates of each other (see Eigenvalues and eigenvectors). Knowing that 1 is an eigenvalue, it follows that the remaining two eigenvalues

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