Efficient Rotation of an Object

@article{f-ero-83,
    author = "Franklin, Wm Randolph",
    title = "Efficient Rotation of an Object",
    journal = "IEEE Trans. Comput.",
    volume = "C-32",
    number = "11",
    month = "November",
    year = "1983",
    pages = "1064--1067",
    href = "\bibhref{16-ieeetc83-rotation}",
    keywords = "computer graphics, CAD"
}