Angle-axis rotation

RK[θ_, k_] := <br />    Module[{kx, ky, kz, v, c, s}, <br /> &nb ... y kz v + kx s, kz^2 v + c}} /. {v-> (1 - Cos[θ]), c->Cos[θ], s->Sin[θ]}] ;

Created by Mathematica  (October 21, 2003)