 In the case of matrices, three such rotations suffice; and by fixing the sequence we can thus describe all rotation matrices (though not uniquely) in terms of the three angles used, often called Euler angles.A Jacobi rotation has the same form as a Givens rotation, but is used to zero both off-diagonal entries of a symmetric submatrix.A real square matrix is orthogonal if and only if its columns form an orthonormal basis of the Euclidean space with the ordinary Euclidean dot product, which is the case if and only if its rows form an orthonormal basis of .