Ecaluate
`[{:(cosalphacosbeta,cosalphasinbeta,-sinalpha),(-sinbeta,cosbeta,0),(sinalphacosbeta,sinalphasinbeta,cosalpha):}]`

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`[{:(cosalphacosbeta,cosalphasinbeta,-sinalpha),(-sinbeta,cosbeta,0),(sinalphacosbeta,sinalphasinbeta,cosalpha):}]`
`=cosalphacosbeta(cosalphacosbeta-0)-cosalphasinbeta(-sinbetacosalpha-0)-sinalpha(-sin^(2)betasinalpha-sinalphacos^(2)beta)`
`=cos^(2)alpha(cos^(2)beta+sin^(2)beta)+sin^(2)alpha`
`=cos^(2)alpha+sin^(2)=1`

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