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(a1a2 + b1b2 + c1c2) / (√(a1² + b1² + c1²) * √(a2² + b2² + c2²))
(a1a2 + b1b2 - c1c2) / (√(a1² + b1² + c1²) * √(a2² + b2² + c2²))
(a1b2 - a2b1) / (√(a1² + b1² + c1²) * √(a2² + b2² + c2²))
√(a1² + b1² + c1²) / √(a2² + b2² + c2²)
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