- 21

- 0

[itex]\begin{bmatrix}

1 & 0 & 0 \\

0 & 1 & 0 \\

0 & 0 & 1

\end{bmatrix}

M_{ID}

\times

M_Z

\begin{bmatrix}

cos(\phi) & sin(\phi) & 0 \\

-sin(\phi) & cos(\phi) & 0 \\

0 & 0 & 1

\end{bmatrix}

[/itex]

I imagine the point is sitting on the z-axis, thus rotating around itself. I'm not sure how to modify the identity matrix to reposition it so that it rotates around the origin like with the other axes. I hope someone can point out to me what's needed here. Thanks.