Find the angle between the planes $ax + by + d = 0$ $(a^2 + b^2 \neq 0)$ and $z = 0$.

  • A
    $\frac{\pi}{3}$
  • B
    $\cos^{-1} \frac{d}{\sqrt{a^2 + b^2}}$
  • C
    $\frac{\pi}{4}$
  • D
    $\frac{\pi}{2}$

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