7. (1/4 mark) A 3d rotation matrix has 9 (3 by 3) entries, and a 2d rotation matri:x has 4 (2 by 2) entries. How many actual degrees of freedom are there in a 3d or 2d rotation? In other words, what is the minimum number of parameters necessary to uniquely specify every possible 3d rotation and a 2d rotation (answer with two numbers, one for 3d one for 2d)? What does this imply about the relationship between the entries of a rotation matrix