As A is an orthogonal matrix, AAT = I ⇒ 3112a2122−2b . 3112221−2a2b = 100010001 ⇒ 9112a2122−2b12221−2a2b = 100010001 ⇒
90a+4+2b092a+2−2ba+4+2b2a+2−2ba2+4+b2
= 900090009 ⇒ a + 4 + 2b = 0, 2a + 2 – 2b = 0 anda2 + 4 + b2 = 9 ⇒ a + 2b + 4 = 0, a – b + 1 = 0 anda2+b2 = 5 ⇒ a = – 2, b = – 1