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Theta has the wrong sense.

[edit]

theta here should be negative.

Agreed. Theta here is directed in a left-handed sense while the other angles are directed in a right-handed sense. To be consistent with the other angles and with the discussion of Euler angles in the English Wikipedia, the direction of theta needs to be reversed. --Colin Douglas Howell (talk) 01:11, 3 April 2015 (UTC)[reply]
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