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Use the formula with the dot product, θ = cos^-1 (a * b) / ||a|| * ||b||. To get the dot product, multiply Ai by Bi, Aj by Bj, and Ak by Bk then add the values together. To find the magnitude of A and B, use the Pythagorean Theorem (√(i^2 + j^2 + k^2). Then, use your calculator to take the inverse cosine of the dot product divided by the magnitudes and get the angle.
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