(a)
Matrix $\begin{bmatrix}
a_{1} & a_{2} & a_{3} \\
b_{1} & b_{2} & b_{3} \\
c_{1} & c_{2} & c_{3}
\end{bmatrix}$ is orthogonal if
$\sum_{}^{}{a_{i}^{2} =}\sum_{}^{}{b_{i}^{2} =}\sum_{}^{}{c_{i}^{2} = 1;\ }\sum_{}^{}{a_{i}b_{i} =}\sum_{}^{}{b_{i}c_{i} =}\sum_{}^{}{c_{i}a_{i} =}0$