You should think about having an input variable rather than describing it as only -90 degrees in the description.
Easy to do, what's your reasoning?
Triangle Numbers Below N
Back to basics 23 - Triangular matrix
Try 1.5.4: Celsius to Fahrenheit
Composing relative poses in 2D: problem 1
Twists in 2D
Relative points in 2D: problem 3
Determine roll pitch yaw angles from a 3D rotation matrix
Create a 3D rotation matrix from roll-pitch-yaw angles
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