Exercise 11.6.3 Determine which of the following matrices are orthogonal by checking whether the columns form an orthonormal set. HUNDEHDAHHHH B = 020 3 200 = 1 3 12 2 2 1 -2 -2 2-1 002 2-1 2 -1 2-2 2-2 1 D= 1 5 3 40 4 -3 0 0 0 5

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