MATLAB: Is there a source for vrrotvec algorithm: axis = cross-product, angle = acos(dot product)

referencesourcevrrotvec

Please cite a source in the Matlab help page for vrrotvec. Or is there no traceable earliest source?

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Applying the cross and the dot products is elementary math. I do not think that you can find a reference for this. By the way, using the dot product to determing the angle is instable. Use atan2 instead.
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