What is the formula to find the angle between the planes a1x + b1y + c1z + d1 = 0 and a2x + b2y + c2z + d2 = 0?

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What is the formula to find the angle between the planes a<sub>1</sub>x + b<sub>1</sub>y + c<sub>1</sub>z + d<sub>1</sub> = 0 and a<sub>2</sub>x + b<sub>2</sub>y + c<sub>2</sub>z + d<sub>2</sub> = 0?