`math R_{hyp} = \begin{bmatrix} \cosh(cθ) & -\sinh(cθ) \\ \sinh(cθ) & \cosh(cθ) \end{bmatrix}` #129

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math R_{hyp} = \begin{bmatrix} \cosh(cθ) & -\sinh(cθ) \\ \sinh(cθ) & \cosh(cθ) \end{bmatrix} #129

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