Vector rotation

[kepler]

Hello,

I've got a vector [x0,y0,z0,] in a xyz frame. What are the formulas to rotate it by the x-axis, the y-axis and the z-axis - separately of course? - Please don't give me matrices operations :bugeye:

Regards,

Kepler

[Tide]

You can develop the transformation yourself with a little geometry by asking how each of the 3 unit vectors gets transformed by each of those rotations. A matrix is simply a way of doing the bookkeeping in a clear way.