Definition of elementary rotation matrices

rX[a_] := {{1, 0, 0}, {0, Cos[a], -Sin[a]}, {0, Sin[a], Cos[a]}} ; rY[a_] := {{Cos[a], 0, Sin[ ... 1, 0}, {-Sin[a], 0, Cos[a]}} ; rZ[a_] := {{Cos[a], -Sin[a], 0}, {Sin[a], Cos[a], 0}, {0, 0, 1}} ;

Created by Mathematica  (October 21, 2003)