rotation_table.md

@@ -64,3 +64,5 @@ However, this equation have multiple solution in a 3D space. So we must add an o
 Now, we are able to write it as a matrix equation:
  
 ![alt text](http://mathurl.com/jk4j7dp.png)
+
+Previous equation is over-determined so we can't use casual inversion. Therefore, we use pseudo-inversion and receive the wanted solution. 
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