The product of two orthogonal matrices is orthogonal.
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(3) The product of orthogonal matrices is orthogonal: if AtA = In and BtB = In, (AB)t(AB)=(BtAt)AB = Bt(AtA)B = BtB = In. (2) and (3) (plus the fact that the identity is orthogonal) can be summarized by saying the n×n orthogonal matrices form a matrix group, the orthogonal group On.
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