Dot product and cross product
suppose you have two vector, [a1, a2, a3] and [b1, b2, b3]
dot product: a1*b1+a2*b2+a3*b3
cross product: [a2*b3-a3*b2,a3*b1-a1*b3,a1*b2-a2*b1]
axb=c, c is perpendicular to the plane containing a and b
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