ZYZ Euler angles

RZYZEuler = rZ[α] . rY[β] . rZ[γ] ; RZYZEuler // Nice

( cos(α) cos(β) cos(γ) - sin(α) sin(γ) -cos(γ) sin(&# ... sin(β) sin(γ) cos(β)

Created by Mathematica  (September 7, 2003)