 Solution

Choose the following consistent sign convention. The Givens rotation $J(i,j,\theta )$ equals the identity matrix except for the block on coordinates $i,j$:Thus it changes only the $i$th and $j$th coordinates of a vector. Write $c=\cos \theta$, $s=\sin \theta$. Its two-coordinate block satisfiesAll remaining coordinates are unchanged, so $J^{T}J=I_n$. Hence every such Givens rotation is an orthogonal matrix. With this convention the two-coordinate rotation matrix rotates through angle $-\theta$.