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Table 1 Cayley table for the rotation example (see Figure 1).

From: Review and application of group theory to molecular systems biology

  e r 1 r 2 r 3
e e r 1 r 2 r 3
r 1 r 1 e r 3 r 2
r 2 r 2 r 3 e r 1
r 3 r 3 r 2 r 1 e