The formula axb = |a||b|sinθ is given in the formula bookletTherefore, θ, the angle between both vectors a and b is equal to sin-1 ((axb)/(|a||b|))Remember, axb can be found by multiplying a and b together as matrices (if a reminder is needed on how to do this, I'll show you on a whiteboard); and |a| can be found by square rooting all the components of a squared (e.g. square root of ai2+ aj2 + ak2 if the vector is three dimentional).