Euclidean geometry equal (SAS), or two angles and a side equal (ASA) (Book I, propositions 4, 8, and 26). Triangles with three equal angles (AAA) are similar, but not necessarily congruent. Also, triangles with two equal sides and an adjacent angle are not necessarily equal or congruent. The sum of the angles of a triangle is equal to a straight angle (180 degrees). This causes an equilateral triangle to have three interior angles of 60 degrees. Also, it causes every triangle to have at least two acute angles and up to one obtuse or right angle. The celebrated Pythagorean theorem (book I,
Euler angles elements of a rotation matrix are not all completely independent. For example, the rotation matrix in dimension 2 has only one degree of freedom, since all four of its elements depend on a single angle of rotation. A rotation matrix in dimension 3 (which has nine elements) has three degrees of freedom, corresponding to each independent rotation, for example by its three Euler angles or a magnitude one (unit) quaternion. In SO(4) the rotation matrix is defined by two quaternions, and is therefore 6-parametric (three degrees of freedom for every quaternion). The rotation matrices have therefore 6 out of 16