Combined rotations of a point about any axis
  (component rotations are about a coordinate axis)

Clear[Ax, Ay, AyAx, Az] ; (* If you wish to rotate the coordinate axes, choose 1 for t ... x[axis, 1]] ; Az[rotAngleInRad_, rotDirection_] := z3RotMat[(-1)^( rotDirection) * rotAngleInRad]

Degree//N

FormBox[0.0174533, TraditionalForm]

180Degree//N

FormBox[3.14159, TraditionalForm]

AyAx[dD, 1] AyAx[dD, 2]

(    1       2          Sqrt[2]  )           -------    -          -------     ...          2      Sqrt[2]    1           Sqrt[-]    --------   --                3         3       3

(    1                       2   )           -------               Sqrt[-]     ...     Sqrt[2]         2      1           -------    Sqrt[-]    --              3            3      3

dD

{2/3^(1/2), -2^(1/2)/3, -1/3}

AyAx[dD, 1] . (     2  )                Sqrt[-]                     3                  Sqrt[2] ...               --------                    3                  1                --                 3

( 0 )            0            1

AyAx[dD, 2] . (0)                 0                 1

(      2   )           Sqrt[-]                3             Sqrt[2]           --------               3             1           --            3


Created by Mathematica  (February 18, 2004)