The characteristic polynomial of the rotation matrix isIts roots are , soFor example is an eigenvector for and for . At or the two eigenvalues coincide; these events have probability zero under the uniform distribution.
The difference of the two eigenvalues is , hence . Its expectation isFor , put . The set of angles satisfying consists of , and , of total length . Thus the full cumulative distribution function isDifferentiating on gives the probability density functionThis is the arcsine distribution, equivalently the beta distribution with both parameters . It has no atoms at either endpoint.
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