No, it's not "the dot product of a vector with the transpose of itself". If u is written as a "column matrix", say then its transpose is the "row matrix", and the product you indicate is the matrix product .

In fact, a common way of denoting the dot product of a vector with itself is the other way around: .

Yes, I is the identity matrix but there is no such thing as "scalar subtraction"- you can't subtract a scalar from a matrix. However, as I said above, is not a dot product and so not a scalar value. It is a matrix whichThis is from page 754 of the OpenGL programming guide:

is the axis of rotation and is the angle of rotation.

Let and

Also let

and

Also does the "I" represent the identity matrix so that is simple scalar subtraction from the identity matrix (assuming is the dot product producing a scalar value)?

Thanks alot for having a look.canbe subtracted from the identity matrix. With u as above,