Past exam of the mathematics course of the University of Oxford / 2021 / Prelims / Mathematics IV resit / 1 / c

The straight line $2x=y=z$ has direction vector $(1,2,2)$, so take the unit vector $\mathbf{n}=(1,2,2{)}^T/3$. A half-turn has $\cos \pi =-1$ and $\sin \pi =0$. The preceding rotation formula becomesThus the rotation matrix in the standard basis isIt fixes $(1,2,2{)}^T$ and negates every vector in its orthogonal complement, which also checks the half-turn geometrically.