rotation_table.md

@@ -52,12 +52,11 @@ That mean the rotation vector is an eigenvector of the rotation matrix ![alt tex
 
 
 ### Translation vector
-
-The translation vector ![alt text](http://mathurl.com/hrfjerk.png) must satisfy that it remain same when transformed. So we get:
+As you can see on the picture above when we translate vector ![alt text](http://mathurl.com/gwoqjj3.png) by the vector ![alt text](http://mathurl.com/jntzz6q.png)  and rotate it with the rotation matrix ![alt text](http://mathurl.com/5unln6.png)  we will end-up at same place. To simplify equation we call ![alt text](http://mathurl.com/zeh2wcc.png) 
 
 ![alt text](http://mathurl.com/hz8h7pf.png)
 
-However, this equation have multiple solution in a 3D space. So we must add an other condition to this to clarify the solution. We know that both origins are rotating in a plane with normal vector ![alt text](http://mathurl.com/jm7yc4a.png) from previous. Moreover, the normal vector must be perpendicular with the vector ![alt text](http://mathurl.com/hrfjerk.png). We can add a following condition:
+However, this equation have multiple solutions in a 3D space. So we must add an other condition to this to clarify the solution. We know that both origins are rotating in a plane with normal vector ![alt text](http://mathurl.com/jm7yc4a.png) from previous. Moreover, the normal vector must be perpendicular with the vector ![alt text](http://mathurl.com/hrfjerk.png). We can add a following condition:
 
 ![alt text](http://mathurl.com/hb4t2zq.png)