I have two sets of vectors,

```
(* SET_1:  *)

A0 = {-23.645, 8.761, 19.186};
A1 = {8.909, 11.977, -26.572};
A2 = { 6.098, 8.537, 31.834};
A3 = {9.866, -32.131, -24.569};

(* SET_2:  *)

B0 = {-13.9469, 28.7731, -3.21699};
B1 = {-13.8077, -27.3636, 0.329735};
B2 = {2.94231, 23.5992, 23.8511};
B3 = {24.8123, -25.0087, -20.9639};

```

These two sets are such that A0 = B0, A1=B1, A2=B2, and A3=B3 (Let's say within experimental error) but only rotated in 3d space.
Now is there any way to know the rotation axis and angle of this transformation so that I can use this information for future use.