Another way is to use the dot product, if you have had that in class. One definition of [itex]\vec{u}\cdot\vec{v}[/itex] is [itex]|\vec{u}||\vec{v}|cos(\theta)[/itex] where [itex]\theta[/itex] is the angle between [itex]\vec{u}[/itex] and [itex]\vec{v}[/itex]. Another, equivalent, definition is that the dot prouct of [itex]u_x\vec{i}+ u_y\vec{j}+ u_z\vec{k}[/itex] and [itex]v_x\vec{i}+ v_y\vec{j}+ v_z\vec{k}[/itex] is [itex]u_xv_x+ u_yv_y+ u_zv_z[/itex]. comparing those should give you then angle between [itex]R_x\vec{i}+ R_y\vec{j}+ R_z\vec{k}[/itex] and [itex]R_x\vec{i}[/itex].