Should specify whether the bearing is supposed to be in radians or degrees (FYI, it's radians).
Also, in the 3rd paragraph the word "displacement" is in there twice. Minor typo :)
Remove all the consonants
Roll the Dice!
Convert radians to degrees
Relative points in 2D: problem 1
Twists in 2D
Determine roll pitch yaw angles from a 3D rotation matrix
Create a 3D rotation matrix
Invert a 3D rigid-body transformation
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