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   Creates a small angle transformation matrix
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   Form:
   c = SAForm( e )
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   ------
   Inputs
   ------
   e      (3,1) [ex;ey;ez] defined positive from the unrotated to the rotated
                frame

   -------
   Outputs
   -------
   c      (3,3) Transforms from the nominal frame to the rotated frame
   

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