Two separate cuboids with different orientation in space. Determine the angle between them, knowing the direction cosine matrix for each separate cuboid. u1=(0.62149553, 0.11709336, 0.77461762) u2=(0.046501848, 0.66652649, 0.74402958)

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use scalar products to determine angle between two 3D vectors (if direction cosines gives -> its unit vectors)